{"id":344411,"date":"2023-06-01T17:01:47","date_gmt":"2023-06-01T08:01:47","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344411"},"modified":"2023-08-14T14:35:43","modified_gmt":"2023-08-14T05:35:43","slug":"auto_sitdown","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/auto_sitdown.html","title":{"rendered":"\u3010Unitree Go1\u3011\u81ea\u52d5\u3067\u7acb\u3061\u4e0a\u304c\u308b\u72ac\u3092\u4f0f\u305b\u3055\u305b\u308b\u65b9\u6cd5"},"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>Go1\u306f\u96fb\u6e90\u3092\u3064\u3051\u308b\u3068\u81ea\u52d5\u3067\u7acb\u3061\u4e0a\u304c\u308a\u307e\u3059\u304c\u3001\u958b\u767a\u3067\u4f7f\u7528\u3059\u308b\u5834\u5408\u3001\u6bce\u56de\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3067\u72ac\u3092\u4f0f\u305b\u3055\u305b\u308b\u306e\u306f\u624b\u9593\u3067\u3059\u3088\u306d\u3002<br \/>\n\u307e\u305f\u3001Go1\u3092\u7acb\u3063\u305f\u307e\u307e\u306b\u3057\u3066\u304a\u304f\u3068\u4f0f\u305b\u305f\u72b6\u614b\u306b\u6bd4\u3079\u3066\u96fb\u529b\u6d88\u8cbb\u304c\u5927\u304d\u304f\u306a\u308a\u3001\u30d0\u30c3\u30c6\u30ea\u30fc\u304c\u30bc\u30ed\u306b\u306a\u308c\u3070\u5012\u308c\u3066\u3057\u307e\u3046\u306a\u3069\u306e\u554f\u984c\u3082\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u305d\u3053\u3067\u3001\u672c\u8a18\u4e8b\u3067\u306fGo1\u3092\u81ea\u52d5\u3067\u4f0f\u305b\u3055\u305b\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>\u672c\u8a18\u4e8b\u3067\u306f\u3001Go1\u3092\u4f0f\u305b\u3055\u305b\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u4f5c\u6210\u304a\u3088\u3073Go1\u72ec\u81ea\u306e\u81ea\u52d5\u8d77\u52d5\uff08~\/Unitree\/autostart\uff09\u3092\u4f7f\u7528\u3057\u305f\u81ea\u52d5\u4f0f\u305b\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5b9f\u88c5\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0e\u904b\u52d5\u7cfbSDK\u306e\u4fee\u6b63\u3057\u3001\u4f0f\u305b\u3055\u305b\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u4f5c\u6210\u3059\u308b<\/h3>\n<hr \/>\n<p>\u307e\u305a\u3001unitree_legged_sdk\u306eexample_walk.cpp\u3092\u4fee\u6b63\u3057\u3066\u3001\u4f0f\u305b\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\u5185\u306bsrc\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3057\u3001\u305d\u3053\u306bexample_walk.cpp\u3092\u30b3\u30d4\u30fc\u3057\u307e\u3059\u3002\u30b3\u30d4\u30fc\u3057\u305f\u30d5\u30a1\u30a4\u30eb\u3092sit_down.cpp\u3068\u3044\u3046\u540d\u524d\u3067\u4fdd\u5b58\u3057\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\/sdk_sit_down_1.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u305d\u306e\u5f8c\u3001\u4f0f\u305b\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 < 4000) <br \/>\n  { <br \/>\n\t\t&nbsp; cmd.mode = 7; <br \/>\n  }<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">  sleep(1); <br \/>\n  if(custom.motiontime > 4000) <br \/>\n    break;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/make_sdk_sit_down.png\" alt=\"\" width=\"100%\" \/><br \/>\n\u203b \u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u305f\u90e8\u5206\u306fEnter\u30ad\u30fc\u3092\u62bc\u3055\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u7b87\u6240\u3067\u3059<br \/>\n\u203b \u4f0f\u305b\u3055\u305b\u305f\u3089SDK\u3092\u7d42\u4e86\u3055\u305b\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u306e\u3067\u3001while\u6587\u5185\u3082\u5909\u66f4\u3057\u307e\u3059<\/p>\n<p>&nbsp;<\/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\/sdk_sit_down_3.png\" alt=\"\" width=\"60%\" \/><br \/>\n&nbsp;<\/p>\n<p>\u3053\u308c\u3067\u4f0f\u305b\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u4f5c\u6210\u304c\u5b8c\u4e86\u3057\u307e\u3057\u305f\u3002<br \/>\n\u6b21\u306f\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\uff0e\u4f5c\u6210\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u30b3\u30f3\u30d1\u30a4\u30eb&amp;\u5b9f\u884c<\/h3>\n<hr \/>\n<p>\u4f5c\u6210\u3057\u305funitree_legged_sdk\u3092Go1\u306e\u5185\u90e8\u306b\u3042\u308bRaspberry Pi\u306e\u9069\u5f53\u306a\u5834\u6240\u306b\u914d\u7f6e\u3057\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\">$ .\/sit_down<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/sdk_sit_down_5.png\" alt=\"\" width=\"100%\" \/><br \/>\nGo1\u304c\u4f0f\u305b\u308c\u3070\u3001\u6210\u529f\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0eGo1\u306e\u81ea\u52d5\u8d77\u52d5\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u4fee\u6b63\u3092\u884c\u3046<\/h3>\n<hr \/>\n<p>Unitree Go1\u306e\u81ea\u52d5\u8d77\u52d5\u30d7\u30ed\u30bb\u30b9\u306e\u4e00\u90e8\u306f\u3001\u5185\u90e8\u306eRaspberry Pi\u306e~\/Unitree\/autostart\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3067\u884c\u308f\u308c\u307e\u3059\u3002<br \/>\n\u7279\u306b\u3001~\/Unitree\/autostart\/triggerSport\u306f\u81ea\u52d5\u3067\u7acb\u3061\u4e0a\u304c\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u62c5\u5f53\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/Unitree_autostart.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p>&nbsp;<br \/>\nUnitree\/autostart\u5185\u306e\u81ea\u52d5\u8d77\u52d5\u306f\u3001~\/Unitree\/autostart\/.startlist.sh\u3067\u898f\u5b9a\u3055\u308c\u305f\u4e00\u9023\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u9806\u306b\u5b9f\u884c\u3059\u308b\u4ed5\u7d44\u307f\u3067\u3059\u3002<br \/>\n\u4ee5\u4e0b\u306e\u4fee\u6b63\u3092\u884c\u3046\u3068\u3001triggerSport\u304c\u7121\u52b9\u306b\u306a\u308a\u307e\u3059\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/off_triggerSport.png\" alt=\"\" width=\"40%\" \/><\/p>\n<p>&nbsp;<br \/>\n\u305f\u3060\u3057\u3001<strong>triggerSport\u3092\u7121\u52b9\u306b\u3059\u308b\u3068\u901a\u5e38\u306e\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3067\u306e\u64cd\u4f5c\u304c\u3067\u304d\u306a\u304f\u306a\u308a\u307e\u3059\u3002<\/strong><\/p>\n<p>&nbsp;<br \/>\n\u305d\u306e\u305f\u3081\u3001\u672c\u8a18\u4e8b\u3067\u306f\u3001triggerSport\u3067\u7acb\u3061\u4e0a\u304c\u3063\u305f\u5f8c\u306b\u6700\u5f8c\u306b\u4f0f\u305b\u308b\u65b9\u6cd5\u3092\u63a1\u7528\u3057\u307e\u3059\u3002<\/p>\n<p>\u307e\u305a\u3001~\/Unitree\/autostart\u5185\u306b\u3001sitDown\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ mkdir sitDown<br \/>\n$ cd sitDown<\/p>\n<p>\u6b21\u306b\u3001\u4ee5\u4e0b\u306e\u5185\u5bb9\u3067sitDown.sh\u3092\u4f5c\u6210\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">#!\/bin\/bash<br \/>\ncd ~\/ishika_ws\/unitree_legged_sdk-go1\/build;<br \/>\n.\/sit_down;<\/p>\n<p>\u6700\u5f8c\u306b\u3001sitDown.sh\u3092\u5b9f\u884c\u53ef\u80fd\u306b\u3057\u307e\u3059\uff1a<\/p>\n<p style=\"padding: 10px;margin-bottom: 10px;border: 1px solid #606060;background-color: #fafafa;color: #000000\">$ chmod +x sitDown.sh<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/make_sitDown.png\" alt=\"\" width=\"100%\" \/><br \/>\n\u203b .\/sitDown.sh\u3092\u5b9f\u884c\u3057\u305f\u5834\u5408\u306b\u30822.\u3068\u540c\u69d8\u306e\u7d50\u679c\u304c\u5f97\u3089\u308c\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n<p>\u3053\u308c\u3067\u6e96\u5099\u304c\u5b8c\u4e86\u3057\u307e\u3057\u305f\u3002<br \/>\n\u6b21\u306b\u3001~\/Unitree\/autostart\/.startlist.sh\u3092\u4fee\u6b63\u3057\u3066\u81ea\u52d5\u8d77\u52d5\u306e\u8a2d\u5b9a\u3092\u884c\u3044\u307e\u3059\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/05\/auto_sitDown.png\" alt=\"\" width=\"40%\" \/><\/p>\n<p>\u3053\u308c\u3067\u3001\u96fb\u6e90\u3092\u5207\u3063\u3066\u304b\u3089\u518d\u3073\u96fb\u6e90\u3092\u5165\u308c\u308b\u3068\u3001\u81ea\u52d5\u3067Go1\u304c\u4f0f\u305b\u3066\u304f\u308c\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>Go1\u3092\u81ea\u52d5\u3067\u4f0f\u305b\u3055\u305b\u308b\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 Go1\u306f\u96fb\u6e90\u3092\u3064\u3051\u308b\u3068\u81ea\u52d5\u3067\u7acb\u3061\u4e0a\u304c\u308a\u307e\u3059\u304c\u3001\u958b\u767a\u3067\u4f7f\u7528\u3059\u308b\u5834\u5408\u3001\u6bce\u56de\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3067\u72ac\u3092\u4f0f\u305b\u3055\u305b\u308b\u306e\u306f\u624b\u9593\u3067\u3059\u3088\u306d\u3002 \u307e\u305f\u3001Go1\u3092\u7acb\u3063\u305f\u307e\u307e\u306b\u3057\u3066\u304a\u304f\u3068\u4f0f\u305b\u305f\u72b6\u614b\u306b\u6bd4\u3079\u3066\u96fb\u529b\u6d88\u8cbb\u304c\u5927\u304d\u304f\u306a\u308a\u3001 &hellip;<\/p>\n","protected":false},"author":15,"featured_media":65017,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,26,51],"tags":[],"class_list":["post-344411","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\/344411","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=344411"}],"version-history":[{"count":14,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344411\/revisions"}],"predecessor-version":[{"id":344437,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344411\/revisions\/344437"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media\/65017"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344411"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344411"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344411"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}