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700dd75 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 | # 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.
|