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 (STEP AP242) |
| Version | v1 |
| Camera | Luxonis OAK-D W (OV9782 global-shutter sensor) |
Note: The
.stepfile is stored directly in Git (it is ~44 KB of plain ASCII text), so a normalgit cloneor 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 — camera
server setup and the
ego_viewimage stream this mount provides.