{"id":344919,"date":"2023-07-28T17:52:26","date_gmt":"2023-07-28T08:52:26","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344919"},"modified":"2023-08-01T11:46:20","modified_gmt":"2023-08-01T02:46:20","slug":"go1_low_stand_up","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/go1_low_stand_up.html","title":{"rendered":"\u3010Unitree Go1\u3011Low Level\u5236\u5fa1\u306e\u6982\u8981\u306b\u3064\u3044\u3066"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001Low Level\u5236\u5fa1\u306b\u304a\u3051\u308b\u6982\u8981\u3092\u89e3\u8aac\u3055\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u3002<br \/>\n\u89d2\u5ea6\u5236\u5fa1\u306b\u3088\u308bstand up\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5b9f\u4f8b\u3082\u4ea4\u3048\u305f\u89e3\u8aac\u306b\u306a\u308a\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>\u203b Low Level\u5236\u5fa1\u3092\u884c\u3046\u5834\u5408\u3001\u4ed8\u5c5e\u306e\u30cf\u30f3\u30ac\u30fc\u30ad\u30e3\u30b9\u30bf\u30fc\u3092\u4f7f\u7528\u3057\u3001\u30cf\u30f3\u30ac\u30fc\u30ad\u30e3\u30b9\u30bf\u30fc\u306b\u3088\u3063\u3066\u5341\u5206\u306b\u5b89\u5168\u3092\u78ba\u8a8d\u3067\u304d\u308b\u307e\u3067\u306f\u7d76\u5bfe\u306b\u30cf\u30f3\u30ac\u30fc\u30ad\u30e3\u30b9\u30bf\u30fc\u3092\u4f7f\u7528\u3057\u3066\u304f\u3060\u3055\u3044<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0eLow Level\u5236\u5fa1\u306e\u6982\u8981<\/h3>\n<hr \/>\n<h5>Low Level\u306e\u5236\u5fa1\u65b9\u6cd5<\/h5>\n<p>Low Level\u5236\u5fa1\u3067\u30ed\u30dc\u30c3\u30c8\u306b\u6307\u4ee4\u3092\u9001\u308b\u65b9\u6cd5\u306f\uff13\u901a\u308a\u3042\u308a\u307e\u3059\u3002<br \/>\n\uff11\uff0e\u89d2\u5ea6\u6307\u4ee4<br \/>\n\u89d2\u5ea6\u6307\u4ee4\u3092\u4e0e\u3048\u3066\u30ed\u30dc\u30c3\u30c8\u3092\u5236\u5fa1\u3059\u308b\u65b9\u6cd5\u3067\u3001example_position\u304c\u3053\u308c\u306b\u5f53\u305f\u308a\u307e\u3059\u3002\u3053\u306e\u5834\u5408\u3001\u89d2\u5ea6\u525b\u6027Kp\u3082\u30bb\u30c3\u30c8\u3067\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\n\uff12\uff0e\u901f\u5ea6\u6307\u4ee4<br \/>\n\u901f\u5ea6\u6307\u4ee4\u3092\u4e0e\u3048\u3066\u30ed\u30dc\u30c3\u30c8\u3092\u5236\u5fa1\u3059\u308b\u65b9\u6cd5\u3067\u3001example_velocity\u304c\u3053\u308c\u306b\u5f53\u305f\u308a\u307e\u3059\u3002\u3053\u306e\u5834\u5408\u3001\u901f\u5ea6\u525b\u6027Kd\u3082\u30bb\u30c3\u30c8\u3067\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\n\uff13\uff0e\u30c8\u30eb\u30af\u6307\u4ee4<br \/>\n\u30e2\u30fc\u30bf\u30fc\u306e\u30c8\u30eb\u30af\u3067\u5236\u5fa1\u3059\u308b\u65b9\u6cd5\u3067\u3001example_torque\u304c\u3053\u308c\u306b\u5f53\u305f\u308a\u307e\u3059\u3002\u30bb\u30c3\u30c8\u3068\u306a\u308b\u525b\u6027\u306f\u306a\u304f\u3001\u4e00\u756a\u96e3\u6613\u5ea6\u304c\u9ad8\u3044\u5236\u5fa1\u306b\u306a\u308b\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n<h5>\u7269\u7406\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u306b\u3064\u3044\u3066<\/h5>\n<p>Go1\u306e\u7269\u7406\u30d1\u30e9\u30e1\u30fc\u30bf\u306b\u3064\u3044\u3066\u306f\u3001\u4ee5\u4e0b\u306egithub\u306e\u60c5\u5831\u304c\u6700\u3082\u8a73\u3057\u3044\u3067\u3059\uff1a<br \/>\n<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros\/blob\/master\/robots\/go1_description\/xacro\/const.xacro\">unitree_ros\/robots\/go1_description\/xacro\/const.xacro &#8211; github<\/a><\/p>\n<h5>Unitree\u793e\u306e\u63d0\u4f9b\u3057\u3066\u3044\u308b\u6b69\u884c\u30d1\u30bf\u30fc\u30f3\u306b\u3064\u3044\u3066<\/h5>\n<p>\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u8d70\u884c\u30d1\u30bf\u30fc\u30f3\u306f\u3001\u30d0\u30a4\u30ca\u30ea\u30c7\u30fc\u30bf\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u53c2\u8003\u306b\u3067\u304d\u306a\u3044\u5f62\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<br \/>\n\u3057\u304b\u3057\u3001<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_guide\">unitree_guide &#8211; github<\/a>\u3067\u306f\u3001\u5225\u306blow level\u5236\u5fa1\u306b\u3088\u308b\u6b69\u884c\u30d1\u30bf\u30fc\u30f3\u306e\u4f8b\u304c\u3042\u308a\u3001\u6b69\u884c\u30d1\u30bf\u30fc\u30f3\u751f\u6210\u306e\u53c2\u8003\u306b\u306a\u308a\u307e\u3059\u3002\uff08\u305f\u3060\u3057\u5b89\u5b9a\u6027\u306f\u975e\u5e38\u306b\u4f4e\u3044\u8d70\u884c\u3067\u3059\uff09<\/p>\n<h5>Low Level\u306e\u5b9f\u884c\u74b0\u5883\u306b\u3064\u3044\u3066<\/h5>\n<p>\u5341\u5206\u306b\u5b89\u5168\u3092\u78ba\u8a8d\u3067\u304d\u308b\u307e\u3067\u306f\u3001\u30cf\u30f3\u30ac\u30fc\u30ad\u30e3\u30b9\u30bf\u30fc\u306b\u540a\u308b\u3057\u305f\u72b6\u614b\u3067\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002<br \/>\n\u307e\u305f\u3001L1+L2+start\u3092\u62bc\u3057\u3066\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u8d70\u884c\u30e2\u30fc\u30c9\u3092OFF\u306b\u3057\u3066\u304b\u3089\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0e\u5b9f\u4f8b\uff1a\u89d2\u5ea6\u5236\u5fa1\u306b\u3088\u308bstand up\u30d7\u30ed\u30b0\u30e9\u30e0<\/h3>\n<hr \/>\n<p>\u5b9f\u969b\u306b\u5f0a\u793e\u3067\u4f5c\u6210\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u4e0b\u8a18\u306e\u3088\u3046\u306a\u3082\u306e\u306b\u306a\u308a\u307e\u3059\uff1a<br \/>\n<video width=\"100%\" controls><source src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/standup_lowlevel_Trim.mp4\" type=\"video\/mp4\">Your browser does not support the video tag.<\/video><\/p>\n<p>\uff11\uff0e\u6700\u521d\u306e\u59ff\u52e2\u3000\u2192\u3000\u4f0f\u305b\u306e\u59ff\u52e2\u3000\uff0810\u79d2\u304b\u3051\u3066\uff09<br \/>\n\uff12\uff0e\u4f0f\u305b\u306e\u59ff\u52e2\u3000\u2192\u3000\u7acb\u3061\u306e\u59ff\u52e2\u3000\uff0810\u79d2\u304b\u3051\u3066\uff09<br \/>\n\u3068\u3044\u3046\u6d41\u308c\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306b\u306a\u308a\u307e\u3059\u3002<br \/>\n\u203b\u6700\u521d\u306b\u3084\u308b\u5834\u5408\u306f\u3001\u30cf\u30f3\u30ac\u30fc\u30ad\u30e3\u30b9\u30bf\u30fc\u304b\u3089\u540a\u308b\u3057\u305f\u72b6\u614b\u3067\u884c\u3063\u3066\u304f\u3060\u3055\u3044<\/p>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\"><strong>\u4eca\u56de\u4f7f\u7528\u3057\u305f\u30b3\u30fc\u30c9<\/strong>\uff08\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u958b\u304d\u307e\u3059\uff09<\/summary>\n<pre class=\"prism line-numbers lang-cpp\" data-lang=\"C++\"><code>\/*****************************************************************\r\n Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.\r\n Modified by TechShare.inc in 2023.\r\n******************************************************************\/\r\n\r\n#include \"unitree_legged_sdk\/unitree_legged_sdk.h\"\r\n#include &lt;math.h&gt;\r\n#include &lt;iostream&gt;\r\n#include &lt;stdio.h&gt;\r\n#include &lt;stdint.h&gt;\r\n\r\nusing namespace std;\r\nusing namespace UNITREE_LEGGED_SDK;\r\n\r\nconst double PI=3.141592653589;\r\n\r\nclass Custom\r\n{\r\npublic:\r\n    Custom(uint8_t level) : safe(LeggedType::Go1),\r\n                            udp(level, 8090, \"192.168.123.10\", 8007)\r\n    {\r\n      udp.InitCmdData(cmd);\r\n    }\r\n    void UDPRecv();\r\n    void UDPSend();\r\n    void RobotControl();\r\n\r\n    Safety safe;\r\n    UDP udp;\r\n    LowCmd cmd = {0};\r\n    LowState state = {0};\r\n    double time_consume = 0;\r\n    int motiontime = 0;\r\n    int rate_count = 0;\r\n    float dt = 0.002;     \/\/ 0.001~0.01\r\n\r\n    double posCmd[4][3];\r\n    const double P_STIFF = 80.0;\r\n    double posStiffCmd[4][3] = {{P_STIFF, P_STIFF, P_STIFF}, {P_STIFF, P_STIFF, P_STIFF}, {P_STIFF, P_STIFF, P_STIFF}, {P_STIFF, P_STIFF, P_STIFF}};\r\n    double init_pos[4][3];\r\n\r\n    void set_position(double position[4][3])\r\n    {\r\n        cmd.motorCmd[FR_0].q = position[0][0];\r\n        cmd.motorCmd[FR_1].q = position[0][1];\r\n        cmd.motorCmd[FR_2].q = position[0][2];\r\n        cmd.motorCmd[FL_0].q = position[1][0];\r\n        cmd.motorCmd[FL_1].q = position[1][1];\r\n        cmd.motorCmd[FL_2].q = position[1][2];\r\n        cmd.motorCmd[RR_0].q = position[2][0];\r\n        cmd.motorCmd[RR_1].q = position[2][1];\r\n        cmd.motorCmd[RR_2].q = position[2][2];\r\n        cmd.motorCmd[RL_0].q = position[3][0];\r\n        cmd.motorCmd[RL_1].q = position[3][1];\r\n        cmd.motorCmd[RL_2].q = position[3][2];\r\n        return;\r\n    }\r\n\r\n    void set_posStiffness(double posS[4][3])\r\n    {\r\n        cmd.motorCmd[FR_0].Kp = posS[0][0];\r\n        cmd.motorCmd[FR_1].Kp = posS[0][1];\r\n        cmd.motorCmd[FR_2].Kp = posS[0][2];\r\n        cmd.motorCmd[FL_0].Kp = posS[1][0];\r\n        cmd.motorCmd[FL_1].Kp = posS[1][1];\r\n        cmd.motorCmd[FL_2].Kp = posS[1][2];\r\n        cmd.motorCmd[RR_0].Kp = posS[2][0];\r\n        cmd.motorCmd[RR_1].Kp = posS[2][1];\r\n        cmd.motorCmd[RR_2].Kp = posS[2][2];\r\n        cmd.motorCmd[RL_0].Kp = posS[3][0];\r\n        cmd.motorCmd[RL_1].Kp = posS[3][1];\r\n        cmd.motorCmd[RL_2].Kp = posS[3][2];\r\n        return;\r\n    }\r\n\r\n    void get_position(double (&position)[4][3])\r\n    {\r\n        udp.GetRecv(state);\r\n        position[0][0] = state.motorState[FR_0].q;\r\n        position[0][1] = state.motorState[FR_1].q;\r\n        position[0][2] = state.motorState[FR_2].q;\r\n        position[1][0] = state.motorState[FL_0].q;\r\n        position[1][1] = state.motorState[FL_1].q;\r\n        position[1][2] = state.motorState[FL_2].q;\r\n        position[2][0] = state.motorState[RR_0].q;\r\n        position[2][1] = state.motorState[RR_1].q;\r\n        position[2][2] = state.motorState[RR_2].q;\r\n        position[3][0] = state.motorState[RL_0].q;\r\n        position[3][1] = state.motorState[RL_1].q;\r\n        position[3][2] = state.motorState[RL_2].q;\r\n        return;\r\n    }\r\n\r\n    double Fuse[4][3] ={{-0.02, 1.3, -2.8}, {-0.02, 1.3, -2.8}, {-0.02, 1.3, -2.8}, {-0.02, 1.3, -2.8}};\r\n\r\n    double Tachi[4][3] ={{-0.27, 0.8, -1.6}, {-0.27, 0.8, -1.6}, {-0.27, 0.8, -1.6}, {-0.27, 0.8, -1.6}};\r\n};\r\n\r\nvoid Custom::UDPRecv()\r\n{  \r\n    udp.Recv();\r\n}\r\n\r\nvoid Custom::UDPSend()\r\n{  \r\n    udp.Send();\r\n}\r\n\r\ndouble jointCurveInterpolation(double initPos, double targetPos, double rate)\r\n{\r\n    double p;\r\n    rate = std::min(std::max(rate, 0.0), 1.0);\r\n    \/\/ p = initPos * (1 - rate) + targetPos * rate;\r\n    double theta = (1 + cos(rate*PI))\/2;\r\n    p = initPos * theta + targetPos * (1 -theta);\r\n    return p;\r\n}\r\n\r\nvoid positionCurve(double position[4][3], double initPosition[4][3], double targetPosition[4][3], double rate)\r\n{\r\n    for (int i = 0; i < 4; i++){\r\n        for (int j = 0; j < 3; j++){\r\n            position[i][j] = jointCurveInterpolation(initPosition[i][j], targetPosition[i][j], rate);\r\n        }\r\n    }\r\n    return;\r\n}\r\n\r\nvoid printPosition(double Pos[4][3])\r\n{\r\n    for (int i = 0; i < 4; i++){\r\n        for (int j = 0; j < 3; j++){\r\n            printf(\"%f, \", Pos[i][j]);\r\n        }\r\n    }\r\n    printf(\"\\n\");\r\n    return;\r\n}\r\n\r\nvoid substitution(double (&#038;Pos0)[4][3], double (&#038;Pos1)[4][3])\r\n{\r\n    std::copy(&#038;Pos1[0][0], &#038;Pos1[0][0] + 4*3, &#038;Pos0[0][0]);\r\n    return;\r\n}\r\n\r\nvoid Custom::RobotControl() \r\n{\r\n    motiontime += 2;\r\n    udp.GetRecv(state);\r\n\r\n    double pos[4][3];\r\n    get_position(pos);\r\n\r\n    if( motiontime < 500){\r\n        get_position(init_pos);\r\n        if(motiontime%100 == 0){\r\n          printf(\"init pos: \");\r\n          printPosition(pos);\r\n        }\r\n    }\r\n    else{\r\n        if(motiontime < 1000){\r\n            substitution(posCmd, init_pos);\r\n        }\r\n        else if(motiontime < 11000){\r\n            rate_count += 2;\r\n            double rate = rate_count\/10000.0 ;\r\n            positionCurve(posCmd, init_pos, Fuse, rate);\r\n        }\r\n        else if(motiontime < 11100){\r\n            rate_count = 0;\r\n        }\r\n        else if(motiontime < 21100){\r\n            rate_count += 2;\r\n            double rate = rate_count\/10000.0 ;\r\n            positionCurve(posCmd, Fuse, Tachi, rate);\r\n        }\r\n        else{\r\n            printf(\"end move\");\r\n        }\r\n\r\n        if(motiontime%100 == 0){\r\n          printf(\"current pos: \");\r\n          printPosition(pos);\r\n          printf(\"command pos: \");\r\n          printPosition(posCmd);\r\n        }\r\n    \r\n        set_position(posCmd);\r\n        set_posStiffness(posStiffCmd);\r\n    }\r\n\r\n    udp.SetSend(cmd);\r\n}\r\n\r\nint main(int argc, char const *argv[])\r\n{\r\n    std::cout << \"Communication level is set to LOW-level.\" << std::endl\r\n              << \"WARNING: Make sure the robot is hung up.\" << std::endl\r\n              << \"Press Enter to continue...\" << std::endl;\r\n    std::cin.ignore();\r\n\r\n    Custom custom(LOWLEVEL);\r\n    \/\/ InitEnvironment();\r\n    LoopFunc loop_control(\"control_loop\", custom.dt,    boost::bind(&#038;Custom::RobotControl, &#038;custom));\r\n    LoopFunc loop_udpSend(\"udp_send\",     custom.dt, 3, boost::bind(&#038;Custom::UDPSend,      &#038;custom));\r\n    LoopFunc loop_udpRecv(\"udp_recv\",     custom.dt, 3, boost::bind(&#038;Custom::UDPRecv,      &#038;custom));\r\n\r\n    loop_udpSend.start();\r\n    loop_udpRecv.start();\r\n    loop_control.start();\r\n\r\n    while(1){\r\n        sleep(10);\r\n    };\r\n\r\n    return 0; \r\n}\r\n<\/code><\/pre>\n<\/details>\n<p>&nbsp;<\/p>\n<p>\u306a\u304a\u3001\u89d2\u5ea6\u525b\u6027Kp\u3068\u306f\u3001NM\/rad\u3067\u8868\u73fe\u3055\u308c\u308b\u5024\u3067\u3042\u308a\u3001\u76ee\u6a19\u306e\u30e2\u30fc\u30bf\u30fc\u89d2\u3068\u73fe\u5728\u306e\u30e2\u30fc\u30bf\u30fc\u89d2\u306e\u5dee\u5206[rad]\u304b\u3089\u30c8\u30eb\u30af[NM]\u3092\u7b97\u51fa\u3059\u308b\u3082\u306e\u3068\u306a\u308a\u307e\u3059\u3002<br \/>\nexample_position\u3067\u306f\u30015.0NM\/rad\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u672c\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306f80.0NM\/rad\u306b\u8a2d\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>Low Level\u5236\u5fa1\u306b\u304a\u3051\u308b\u6982\u8981\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<p>&nbsp;<\/p>\n<h3>\u95a2\u9023\u8a18\u4e8b<\/h3>\n<p><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1_ros_lowlevel.html\">\u3010Unitree Go1\u3011\u5916\u90e8PC\u4e0a\u304b\u3089\u7121\u7dda\u3067 unitree_ros_to_real \u3092\u5b9f\u884c\u3059\u308b\uff1a\u30ed\u30fc\u30ec\u30d9\u30eb\u5236\u5fa1<\/a><\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u521d\u3081\u306b \u672c\u8a18\u4e8b\u3067\u306f\u3001Low Level\u5236\u5fa1\u306b\u304a\u3051\u308b\u6982\u8981\u3092\u89e3\u8aac\u3055\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u3002 \u89d2\u5ea6\u5236\u5fa1\u306b\u3088\u308bstand up\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5b9f\u4f8b\u3082\u4ea4\u3048\u305f\u89e3\u8aac\u306b\u306a\u308a\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 &hellip;<\/p>\n","protected":false},"author":15,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,26,51],"tags":[],"class_list":["post-344919","post","type-post","status-publish","format-standard","hentry","category-go1","category-unitree","category-unitree-tips"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344919","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=344919"}],"version-history":[{"count":24,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344919\/revisions"}],"predecessor-version":[{"id":344976,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344919\/revisions\/344976"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344919"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344919"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344919"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}