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irenegracekp/molmoact2-so101
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Stars ·
28
Language ·
Python
License ·
MIT
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Set up irenegracekp/molmoact2-so101 from scratch on Ubuntu with an RTX 3080. List the conda env, the exact pip command, and where the 15 GB MolmoAct2 weights end up.
Wire an Intel RealSense D455 and a USB wrist webcam to the SO-101 arm for molmoact2-so101. Show how to pick the right ports and confirm both feeds are active.
Run inference.py from molmoact2-so101 in dry-run mode with the prompt 'pick up the lemon and drop it in the red bowl' and explain the printed joint targets.
Calibrate every SO-101 motor with lerobot-calibrate and copy the result into the configs folder of molmoact2-so101. Walk through one motor end to end.
Adapt molmoact2-so101 to a different LeRobot follower arm. List what must change in the config and why version 0.5.1 of LeRobot is pinned.
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