{"id":344387,"date":"2023-05-24T16:32:45","date_gmt":"2023-05-24T07:32:45","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344387"},"modified":"2023-05-24T16:32:45","modified_gmt":"2023-05-24T07:32:45","slug":"%e3%80%90unitree-go1%e3%80%91%e9%81%8b%e5%8b%95%e7%b3%bbsdk%e3%81%8b%e3%82%89%e9%9b%bb%e6%ba%90%e3%82%92%e5%88%87%e3%82%8b%e6%96%b9%e6%b3%95%e3%80%90unitree_legged_sdk%e3%80%91","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/%e3%80%90unitree-go1%e3%80%91%e9%81%8b%e5%8b%95%e7%b3%bbsdk%e3%81%8b%e3%82%89%e9%9b%bb%e6%ba%90%e3%82%92%e5%88%87%e3%82%8b%e6%96%b9%e6%b3%95%e3%80%90unitree_legged_sdk%e3%80%91.html","title":{"rendered":"\u3010Unitree Go1\u3011\u904b\u52d5\u7cfbSDK\u304b\u3089\u96fb\u6e90\u3092\u5207\u308b\u65b9\u6cd5\u3010unitree_legged_sdk\u3011"},"content":{"rendered":"<div style=\"text-align: center\"><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2022\/07\/GO1.jpg\" alt=\"\" width=\"60%\" \/><\/div>\n<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>unitree_legged_sdk\u3092\u7528\u3044\u3066\u3001Go1\u306e\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u3092\u3059\u308b\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u74b0\u5883<\/h3>\n<hr \/>\n<p>\u74b0\u5883\u306f\u3001\u6b21\u306e\u3088\u3046\u306a\u3082\u306e\u3092\u60f3\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>\u6a5f\u7a2e: <strong>R&amp;D(Edu), R&amp;D+(Edu+)<\/strong>\uff08Pro\u3067\u306f\u306a\u3044\u3082\u306e\uff09<\/li>\n<li>unitree_legged_sdk:<strong> v3.5.1\u4ee5\u4e0a<\/strong>\uff08\u672c\u8a18\u4e8b\u3067\u306fv3.8.6\u3092\u4f7f\u7528\uff09<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0e\u904b\u52d5\u7cfbSDK\u306e\u4fee\u6b63<\/h3>\n<hr \/>\n<p>\u307e\u305a\u3001unitree_legged_sdk\u306eexample_walk.cpp\u3092\u4fee\u6b63\u3057\u3066\u3001\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u3092\u884c\u3046\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n<p>\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u305funitree_legged_sdk\u30d5\u30a9\u30eb\u30c0\u304b\u3089\u3001example_walk.cpp\u3092\u30b3\u30d4\u30fc\u3057\u3001example_walk_edit.cpp\u3068\u3044\u3046\u540d\u524d\u3067\u4fdd\u5b58\u3057\u307e\u3059\u3002<br \/>\n\u203b \u672c\u8a18\u4e8b\u3067\u306funitree_legged_sdk\u306ev3.8.6\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u304c\u3001v3.5.1\u3084v3.8.0\u3067\u3082\u540c\u69d8\u306e\u624b\u9806\u3067\u5b9f\u884c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u6b21\u306b\u3001example_walk.cpp\u306e\u904b\u52d5\u3092\u8a18\u8ff0\u3057\u3066\u3044\u308bif\u6587\u306e\u90e8\u5206\u3092\u524a\u9664\u3057\u307e\u3059\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/make_shutdown_1.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u305d\u306e\u5f8c\u3001\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u3055\u305b\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u8a18\u8ff0\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">  if (motiontime > 1000 &#038;&#038; motiontime < 3000)<br \/>\n  { <br \/>\n\t\t&nbsp; cmd.mode = 5; <br \/>\n  } <br \/>\n  if (motiontime > 3000 &#038;&#038; motiontime < 5000) <br \/>\n  { <br \/>\n\t\t&nbsp; cmd.mode = 7; <br \/>\n  } <br \/>\n  if(motiontime > 5000){ <br \/>\n\t\t&nbsp; cmd.bms.off = 0xA5; <br \/>\n  }<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/make_shutdown_2.png\" alt=\"\" width=\"100%\" \/><br \/>\n\u203b \u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u3059\u308b\u5834\u5408\u3001\u30e2\u30fc\u30bf\u30fc\u30aa\u30d5\u306e\u72b6\u614b\u306b\u3057\u3066\u304b\u3089\u884c\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001\u307e\u305a\u4f0f\u305b\u3055\u305b\u305f\u5f8c\u3001\u30e2\u30fc\u30bf\u30fc\u30aa\u30d5\u306b\u3057\u3066\u3001\u6700\u5f8c\u306b\u96fb\u6e90\u3092\u5207\u308b\u3068\u3044\u3046\u69cb\u6210\u306b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u6700\u5f8c\u306b\u3001CMakeLists.txt\u3092\u4fee\u6b63\u3057\u307e\u3059\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/make_shutdown_3.png\" alt=\"\" width=\"100%\" \/><br \/>\n&nbsp;<\/p>\n<p>\u3053\u308c\u3067\u3001\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u4f5c\u6210\u304c\u5b8c\u4e86\u3057\u307e\u3057\u305f\u3002<br \/>\n\u6b21\u306f\u3001\u5b9f\u969b\u306b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0eunitree_legged_sdk\u306e\u30b3\u30f3\u30d1\u30a4\u30eb&amp;\u5b9f\u884c<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306fnano(14)\u3067\u884c\u3044\u307e\u3059\u304c\u3001192.168.123.xxx\u306e\u3069\u3053\u3067\u3082\u5b9f\u884c\u53ef\u80fd\u3067\u3059\u3002<br \/>\n\u4f5c\u6210\u3057\u305funitree_legged_sdk\u3092nano(14)\u306e\u9069\u5f53\u306a\u5834\u6240\u306b\u7f6e\u304d\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ cd unitree_legged_sdk-go1<br \/>\n$ mkdir build<br \/>\n$ cd build<br \/>\n$ cmake ..<br \/>\n$ make<\/p>\n<p>\u305d\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ .\/example_walk_edit<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/execute_shutdown.png\" alt=\"\" width=\"100%\" \/><br \/>\nGo1\u304c\u4f0f\u305b\u305f\u5f8c\u3001\u96fb\u6e90\u304c\u5207\u308c\u308c\u3070\u3001\u6210\u529f\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0e\u5b9f\u884c\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u89e3\u8aac<\/h3>\n<hr \/>\n<p>\u904b\u52d5\u7cfbSDK\u3067\u306f\u3001Go1\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306bHighCmd\u3068\u3044\u3046\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u3092\u9001\u4fe1\u3057\u307e\u3059\u3002<br \/>\n\u3053\u306eHighCmd\u306b\u306f\u3001\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u3092\u884c\u3046\u305f\u3081\u306b\u4f7f\u7528\u3059\u308bBmsCmd\u3068\u3044\u3046\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/comm.h_bmscmd.png\" alt=\"\" width=\"60%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/comm.h_highcmd.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>unitree_legged_sdk\u3092\u7528\u3044\u305fGo1\u306e\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u65b9\u6cd5\u3092\u898b\u3066\u304d\u307e\u3057\u305f\u3002<br \/>\n\u3053\u306e\u8a18\u4e8b\u304c\u5c11\u3057\u3067\u3082\u5f79\u306b\u7acb\u3066\u305f\u306e\u306a\u3089\u5e78\u3044\u3067\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u521d\u3081\u306b unitree_legged_sdk\u3092\u7528\u3044\u3066\u3001Go1\u306e\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u3092\u3059\u308b\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002 &nbsp; \u74b0\u5883 \u74b0\u5883\u306f\u3001\u6b21\u306e\u3088\u3046\u306a\u3082\u306e\u3092\u60f3\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002 \u6a5f\u7a2e: R&amp;D(Edu), R&amp;D+( &hellip;<\/p>\n","protected":false},"author":15,"featured_media":343072,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,26,51],"tags":[],"class_list":["post-344387","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-go1","category-unitree","category-unitree-tips"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344387","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/15"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=344387"}],"version-history":[{"count":8,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344387\/revisions"}],"predecessor-version":[{"id":344403,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344387\/revisions\/344403"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media\/343072"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344387"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344387"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344387"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}