| # OAK-D W Camera Mount |
|
|
| 3D-printed mount for the ego / head-view camera used in the GR00T-WholeBodyControl |
| data-collection and VLA pipeline. The mount positions the camera that produces the |
| `observation.images.ego_view` stream, so reproducing this mount reproduces the |
| camera viewpoint the policies were trained with. |
|
|
| | | | |
| |---|---| |
| | **File** | [`oak_d_w_mount.step`](./oak_d_w_mount.step) (STEP AP242) | |
| | **Version** | v1 | |
| | **Camera** | [Luxonis OAK-D W](https://shop.luxonis.com/products/oak-d-w) (OV9782 global-shutter sensor) | |
|
|
| > **Note:** The `.step` file is stored directly in Git (it is ~44 KB of plain ASCII |
| > text), so a normal `git clone` or the GitHub "Download" button gives you the real |
| > geometry — no Git LFS required. |
|
|
| ## Manufacturing |
|
|
| | Parameter | Value | |
| |---|---| |
| | Process | FDM 3D printing | |
| | Material | PLA | |
| | Layer height | 0.2 mm | |
| | Infill / supports | Slicer defaults — no special settings required | |
|
|
| Open the STEP file in any CAD tool (FreeCAD, Fusion 360, SolidWorks, or any |
| online STEP viewer). |
|
|
| ## Bill of materials |
|
|
| | Fastener | Spec | Notes | |
| |---|---|---| |
| | Camera → mount | 2 × M4 × 8 mm | Threads directly into the printed PLA — no heat-set inserts. The OAK-D W sits flush against the mount face. | |
| | Mount → G1 | Stock G1 screws | Reuses the default screws at the G1 mounting location. | |
|
|
| ## Mounting on the G1 |
|
|
| The mount attaches at the **same location as the G1's stock Intel RealSense head |
| camera** — it screws into the existing RealSense mounting point using the stock |
| G1 screws, so no new holes or modifications are needed. |
|
|
| The OAK-D W sits flush against the printed face and keeps the **same orientation |
| plane as the stock RealSense**, angled approximately **40° relative to the head**. |
| This reproduces the ego-view camera pose the policies were trained with. |
|
|
| ## Related documentation |
|
|
| - [Data Collection for VLA](../../docs/source/tutorials/data_collection.md) — camera |
| server setup and the `ego_view` image stream this mount provides. |
|
|
