{"id":344983,"date":"2023-08-02T17:45:11","date_gmt":"2023-08-02T08:45:11","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344983"},"modified":"2024-01-22T09:16:55","modified_gmt":"2024-01-22T00:16:55","slug":"go1-low-level-sim","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/go1-low-level-sim.html","title":{"rendered":"Unitree Go1\u306eLow level\u5236\u5fa1\u304c\u624b\u8efd\u306b\u4f53\u9a13\u3067\u304d\u308b\u30b5\u30f3\u30d7\u30eb\u306e\u7d39\u4ecb"},"content":{"rendered":"<h4>1. \u6982\u8981<\/h4>\n<p>Unitree\u793e\u306egithub\u306b\u63b2\u8f09\u3055\u308c\u3066\u3044\u308b\u300c<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_guide\" target=\"_blank\" rel=\"noopener\">unitree_guide<\/a>\u300d\u3092\u5b9f\u884c\u3057\u3066\u307f\u307e\u3057\u305f\u3002<\/p>\n<p>unitree_guide\u306b\u306f\u3001Unitree\u793e\u304c\u767a\u884c\u3057\u3066\u3044\u308b\u56db\u8db3\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306e\u6559\u79d1\u66f8\u306b\u5bfe\u5fdc\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u683c\u7d0d\u3055\u308c\u3066\u304a\u308a\u3001\u56db\u8db3\u3067\u7acb\u3063\u305f\u59ff\u52e2\u3092\u4fdd\u6301\u3059\u308b\u30d0\u30e9\u30f3\u30b9\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3084\u300112\u500b\u306e\u30e2\u30fc\u30bf\u3092\u5236\u5fa1\u3057\u3066\u6b69\u884c\u30d1\u30bf\u30fc\u30f3\u3092\u751f\u6210\u3059\u308b\u51e6\u7406\u306a\u3069\u3092\u3001low level API\u3092\u4f7f\u3063\u3066\u5b9f\u73fe\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u3053\u308c\u3089\u3092\u52d5\u304b\u3059\u3053\u3068\u3067\u3001gazebo\u4e0a\u3067\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306f\u3082\u3068\u3088\u308a\u3001\u5b9f\u30ed\u30dc\u30c3\u30c8\u3092low level API\u3092\u4f7f\u3063\u3066\u6b69\u884c\u3055\u305b\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u307e\u305a\u306f\u5b9f\u884c\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u306elow level\u5236\u5fa1\u3092\u4f53\u9a13\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n<p>&nbsp;<\/p>\n<h4>2. Unitree Go1\u306elow level\u5236\u5fa1\u3068\u306f\uff1f<\/h4>\n<p>Unitree\u793e\u306e\u56db\u8db3\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306b\u306f\u3001\u30e6\u30fc\u30b6\u306e\u4f5c\u6210\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u304b\u3089\u6b69\u884c\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3059\u308b\u305f\u3081\u306eAPI\u3068\u3057\u3066\u3001\u300cHigh level API\u300d\u3068\u300cLow level API\u300d\u306e\uff12\u7a2e\u985e\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>High level API\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u672c\u4f53\u3092\u524d\u5f8c\u5de6\u53f3\u306b\u52d5\u304b\u3057\u305f\u308a\u3001\u9759\u6b62\u3057\u3066\u3044\u308b\u30ed\u30dc\u30c3\u30c8\u672c\u4f53\u306e\u59ff\u52e2\u3092\u5909\u3048\u308b\u3068\u3044\u3063\u305f\u6bd4\u8f03\u7684\u5206\u304b\u308a\u3084\u3059\u3044\u5207\u308a\u53e3\u3067\u3042\u308a\u3001\u3053\u308c\u3092\u4f7f\u3063\u3066\u30ed\u30dc\u30c3\u30c8\u3092\u6240\u5b9a\u306e\u5834\u6240\u307e\u3067\u6b69\u304b\u305b\u308b\u3068\u3044\u3063\u305f\u52d5\u304d\u304c\u6bd4\u8f03\u7684\u7c21\u5358\u306b\u5b9f\u73fe\u3067\u304d\u308b\u3082\u306e\u3067\u3059\u3002<\/p>\n<p>\u4e00\u65b9\u3001Low level API\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u5404\u811a\u306e\u95a2\u7bc0\u306b\u4ed8\u3051\u3089\u308c\u3066\u3044\u308b3\u500b\u00d74\u811a\uff1d12\u500b\u306e\u30e2\u30fc\u30bf\u306e\u52d5\u304d\u3092\u76f4\u63a5\u6307\u5b9a\u3059\u308b\u3082\u306e\u3067\u3042\u308a\u3001\u30e2\u30fc\u30bf\u3092\u3069\u306e\u3088\u3046\u306b\u64cd\u308c\u3070\u6b69\u884c\u3084\u30c0\u30f3\u30b9\u306a\u3069\u306e\u8907\u96d1\u306a\u52d5\u304d\u304c\u3067\u304d\u308b\u304b\u306f\u3001\u76f4\u611f\u7684\u306b\u306f\u5206\u304b\u3089\u306a\u3044\u5207\u308a\u53e3\u3067\u3059\u3002<\/p>\n<p>\u901a\u5e38\u3001\u30e2\u30fc\u30bf\u306e\u52d5\u304d\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u6b69\u884c\u3055\u305b\u308b\u305f\u3081\u306e\u904b\u52d5\u5b66\u306b\u57fa\u3065\u3044\u3066\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u3001\u3046\u307e\u304f\u6307\u5b9a\u3057\u306a\u3044\u3068\u6b69\u884c\u3084\u59ff\u52e2\u304c\u7dad\u6301\u3067\u304d\u305a\u8ee2\u5012\u3057\u3066\u3057\u307e\u3044\u307e\u3059\u3002\u3067\u3059\u304c\u3001Low level API\u3092\u4f7f\u3063\u305f\u5236\u5fa1(Low level \u5236\u5fa1)\u3092\u4f7f\u3044\u3053\u306a\u3059\u3053\u3068\u304c\u51fa\u6765\u308c\u3070\u3001\u30a2\u30af\u30ed\u30d0\u30c3\u30c8\u7684\u306a\u52d5\u304d\u304c\u53ef\u80fd\u3068\u306a\u3063\u305f\u308a\u3001\u52b9\u7387\u7684\u306a\u52d5\u304d\u3092\u3057\u3066\u30d0\u30c3\u30c6\u30ea\u30fc\u306e\u6d88\u8cbb\u3092\u6291\u3048\u305f\u9577\u6642\u9593\u6b69\u884c\u304c\u53ef\u80fd\u3068\u306a\u3063\u305f\u308a\u3001\u30d0\u30e9\u30f3\u30b9\u3092\u5d29\u3057\u3066\u3082\u8ee2\u5012\u3057\u306b\u304f\u3044\u5236\u5fa1\u304c\u53ef\u80fd\u306b\u306a\u308b\u306a\u3069\u3001\u5b9f\u7528\u7bc4\u56f2\u304c\u5e83\u304c\u308a\u307e\u3059\u3002<\/p>\n<p>\u307e\u305f\u3001\u6700\u8fd1\u3067\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u6a5f\u68b0\u5b66\u7fd2\u306b\u3088\u308a\u30e2\u30fc\u30bf\u306e\u52d5\u304d\u3092\u5b66\u7fd2\u3055\u305b\u3066\u3001\u904b\u52d5\u5b66\u306b\u3088\u3089\u306a\u3044\u65b0\u305f\u306a\u6b69\u884c\u65b9\u6cd5\u3084\u30d0\u30e9\u30f3\u30b9\u5236\u5fa1\u306a\u3069\u3092\u5b9f\u73fe\u3057\u3066\u3044\u308b\u4f8b\u3082\u3042\u308a\u3001\u5236\u5fa1\u7406\u8ad6\u3060\u3051\u3067\u306a\u304fAI\u7814\u7a76\u306e\u5bfe\u8c61\u306b\u3082\u306a\u308b\u306a\u3069\u3001Low level \u5236\u5fa1\u3092\u5229\u7528\u3057\u305f\u3044\u3068\u3044\u3046\u30e6\u30fc\u30b6\u3082\u5897\u3048\u3064\u3064\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h4>3. \u5b9f\u884c\u74b0\u5883<\/h4>\n<p>\u3053\u3053\u3067\u306f\u3001windows PC\u4e0a\u3067WSL2\u3092\u4f7f\u3063\u3066ubuntu linux\u3092\u7acb\u3061\u4e0a\u3052\u3001\u305d\u306e\u4e2d\u3067ROS\u306e\u74b0\u5883\u3092\u6574\u5099\u3057\u3066unitree_guide\u3092\u5b9f\u884c\u3059\u308b\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u307e\u3059\u3002<\/p>\n<p>\u5b9f\u4e16\u754c\u3067\u306e\u52d5\u304d\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3057\u307e\u3059\u306e\u3067\u3001\u4f7f\u7528\u3059\u308bPC\u306f\u3042\u308b\u7a0b\u5ea6\u4ee5\u4e0a\u306e\u6027\u80fd\u304c\u306a\u3044\u3068\u3001\u6b69\u884c\u306e\u52d5\u304d\u306f\u98db\u3073\u98db\u3073\u306b\u306a\u3063\u3066\u3057\u307e\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li><strong>PC:<\/strong>\u00a0 Core-i7\u3001\u30e1\u30e2\u30ea32Gbyte\u4ee5\u4e0a\u304c\u63a8\u5968 (Core-i5\u3001\u30e1\u30e2\u30ea16Gbyte\u3067\u306f\u6b69\u884c\u304c\u9045\u304f\u98db\u3073\u98db\u3073\u306e\u52d5\u304d\u306b\u306a\u308a\u307e\u3059)<\/li>\n<li><strong>\u30db\u30b9\u30c8OS:\u00a0<\/strong> Windows 10 \u30d0\u30fc\u30b8\u30e7\u30f32004\u4ee5\u4e0a (\u30d3\u30eb\u30c919041\u4ee5\u4e0a)<\/li>\n<li><strong>\u4eee\u60f3\u74b0\u5883\uff1a <\/strong>WSL2<\/li>\n<li><strong>\u4eee\u60f3\u74b0\u5883\u4e0a\u306eOS\uff1a <\/strong>Ubuntu 20.04<\/li>\n<li><strong>ROS\u30d0\u30fc\u30b8\u30e7\u30f3\uff1a <\/strong>ROS noetic (ros-noetic-desktop-full)<\/li>\n<\/ul>\n<ul><\/ul>\n<p>&nbsp;<\/p>\n<h5>3.1 WSL2\u304a\u3088\u3073ROS\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/h5>\n<p>\u307e\u305aWindows OS\u4e0a\u306bWSL2\u3068Ubuntu 20.04\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n<p>\u3055\u3089\u306bUbuntu 20.04\u306bROS noetic\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n<p>\u3053\u308c\u3089\u306e\u624b\u9806\u306b\u3064\u3044\u3066\u306f\u3001\u300c<a href=\"https:\/\/techshare.co.jp\/faq\/dobot\/mg400\/mg400-wsl2-rviz.html\" target=\"_blank\" rel=\"noopener\">Windows\u306e<span>WSL2<\/span>\u306b<span>ROS<\/span>\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3001<span>MG400<\/span>\u3092<span>rviz<\/span>\u4e0a\u3067\u52d5\u304b\u3059\u65b9\u6cd5<\/a>\u300d\u306e\u300c3-4. ROS\u306e\u74b0\u5883\u8a2d\u5b9a\u300d\u307e\u3067\u3092\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>&nbsp;<\/p>\n<h5>3.2 unitree_guide\u306e\u30d3\u30eb\u30c9<\/h5>\n<p>ROS\u306e\u74b0\u5883\u304c\u6574\u3063\u305f\u3089\u3001\u6b21\u306e\u624b\u9806\u3067unitree_guide\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6>(1)\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u4f5c\u6210<\/h6>\n<p>unitree_guide\u3092\u30d3\u30eb\u30c9\u3059\u308b\u305f\u3081\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9 (\u3053\u3053\u3067\u306funitree_ws\u3068\u3057\u307e\u3059) \u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-bash\" data-lang=\"Bash\"><code>mkdir -p ~\/unitree_ws\/src<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h6>(2)\u5fc5\u8981\u306a\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30b3\u30d4\u30fc<\/h6>\n<p>\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u306b\u3001Unitree\u793e\u306egithub\u304b\u3089\u3001unitree_guide\u304a\u3088\u3073\u5fc5\u8981\u306a\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30b3\u30d4\u30fc\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-bash\" data-lang=\"Bash\"><code>git clone https:\/\/github.com\/unitreerobotics\/unitree_guide\r\ngit clone https:\/\/github.com\/unitreerobotics\/unitree_ros\r\ngit clone https:\/\/github.com\/unitreerobotics\/unitree_ros_to_real<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h6>(3)\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u30fb\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/h6>\n<p>\u30d3\u30eb\u30c9\u306b\u5fc5\u8981\u306aROS\u30d1\u30c3\u30b1\u30fc\u30b8\u3084\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-bash\" data-lang=\"Bash\"><code>sudo apt install ros-noetic-move-base-msgs\r\nsudo apt install liblcm-dev<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h6>(4)unitree_guide\u306e\u30d3\u30eb\u30c9<\/h6>\n<p>\u6e96\u5099\u304c\u6574\u3063\u305f\u3089unitree_guide\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-bash\" data-lang=\"Bash\"><code>cd ~\/unitree_ws\r\ncatkin_make<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h4>4. \u3055\u3042\u3001\u52d5\u304b\u3057\u3066\u307f\u3088\u3046<\/h4>\n<p>\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u52d5\u304b\u3059\u306b\u306f\u3001(1)\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3059\u308b\u7aef\u672b \u3068\u3001(2)\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u5185\u306eGo1\u306b\u6307\u793a\u3092\u4e0e\u3048\u308b\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u5b9f\u884c\u3059\u308b\u7aef\u672b \u306e2\u3064\u306e\u7aef\u672b\u30a6\u30a3\u30f3\u30c9\u30a6\u304c\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u305d\u308c\u305e\u308c\u3001\u6b21\u306e\u624b\u9806\u306b\u3066\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<h6>(1)1\u3064\u3081\u306e\u7aef\u672b\u3067\u306e\u64cd\u4f5c (\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5)<\/h6>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-bash\" data-lang=\"Bash\"><code>cd ~\/unitree_ws\r\nsource devel\/setup.bash\r\nroslaunch unitree_guide gazeboSim.launch<\/code><\/pre>\n<\/div>\n<h6>(2)2\u3064\u3081\u306e\u7aef\u672b\u3067\u306e\u64cd\u4f5c (\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u5b9f\u884c)<\/h6>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-bash\" data-lang=\"Bash\"><code>cd ~\/unitree_ws\r\nsource devel\/setup.bash\r\n.\/devel\/lib\/unitree_guide\/junior_ctrl<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<p>1\u3064\u3081\u306e\u7aef\u672b\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3066\u4e0b\u8a18\u306e\u3088\u3046\u306a\u753b\u9762\u304c\u73fe\u308c\u305f\u3089\u30012\u3064\u3081\u306e\u7aef\u672b\u3067\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/gazebo2-300x172.png\" alt=\"\" width=\"565\" height=\"324\" class=\"alignnone wp-image-344991\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/gazebo2-300x172.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/gazebo2-1024x587.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/gazebo2-768x440.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/gazebo2-349x200.png 349w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/gazebo2-426x244.png 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/gazebo2-128x72.png 128w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/gazebo2.png 1507w\" sizes=\"auto, (max-width: 565px) 100vw, 565px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u5185\u306eGo1\u3078\u306e\u6307\u793a\u306f\u30012\u3064\u3081\u306e\u7aef\u672b\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u30a2\u30af\u30c6\u30a3\u30d6\u306b\u306a\u3063\u3066\u3044\u308b\u72b6\u614b\u3067\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u304b\u3089\u30ad\u30fc\u3092\u5165\u529b\u3059\u308b\u3053\u3068\u3067\u884c\u3046\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<table width=\"473\" height=\"377\">\n<tbody>\n<tr>\n<td width=\"72\" style=\"text-align: center;\">\u30ad\u30fc<\/td>\n<td colspan=\"2\" width=\"285\" style=\"text-align: center;\">\u52d5\u4f5c<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;1&#8217;<\/td>\n<td colspan=\"2\">\u30e2\u30fc\u30bfOFF (L2-B\u76f8\u5f53)<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;2&#8217;<\/td>\n<td colspan=\"2\">\u7acb\u3061\u4e0a\u304c\u308a\u9759\u6b62 (L2-A L2-A\u76f8\u5f53)<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;4&#8217;<\/td>\n<td colspan=\"2\">\u6b69\u884c\u52d5\u4f5c\u306b\u79fb\u884c (START\u76f8\u5f53)<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;w&#8217;<\/td>\n<td>\u524d\u9032<\/td>\n<td rowspan=\"6\">&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>\u30ad\u30fc\u3092\u62bc\u3059\u305f\u3073\u306b\u52a0\u901f<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;a&#8217;<\/td>\n<td>\u5de6\u6a2a\u6b69\u304d<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;s&#8217;<\/td>\n<td>\u5f8c\u9000<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;d&#8217;<\/td>\n<td>\u53f3\u6a2a\u6b69\u304d<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;j&#8217;<\/td>\n<td>\u5de6\u65cb\u56de<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;l&#8217;<\/td>\n<td>\u53f3\u65cb\u56de<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216; &#8216;<\/td>\n<td>\u505c\u6b62<\/td>\n<td>\u52d5\u304d\u306e\u5024\u30920\u306b\u30ea\u30bb\u30c3\u30c8\u3059\u308b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<p>\u64cd\u4f5c\u4f8b\u3068\u3057\u3066\u3001\u6b21\u306e\u30ad\u30fc\u3092\u9806\u756a\u306b\u62bc\u3057\u3066\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u7acb\u3061\u4e0a\u304c\u3089\u305b\u3066\u524d\u9032\u3055\u305b\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\" data-lang=\"Plain Text\"><code> '2' \u30ad\u30fc\r\n '4' \u30ad\u30fc\r\n 'w' \u30ad\u30fc\r\n 'w' \u30ad\u30fc<\/code><\/pre>\n<\/div>\n<p>\u6b21\u306e\u3088\u3046\u306a\u52d5\u304d\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<div style=\"width: 1249px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-344983-1\" width=\"1249\" height=\"703\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/stand-720p.mp4?_=1\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/stand-720p.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/stand-720p.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<p>\u3053\u306e\u3068\u304d\u30012\u3064\u3081\u306e\u7aef\u672b\u304b\u3089\u6b21\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u983b\u7e41\u306b\u51fa\u308b\u5834\u5408\u306b\u306f\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u304b\u3089\u30ed\u30dc\u30c3\u30c8\u3078\u5b9a\u671f\u7684\u306b\u4e0e\u3048\u308b\u6307\u4ee4\u5024\u306e\u9001\u4fe1\u983b\u5ea6\u304c\u9045\u304f\u30b9\u30e0\u30fc\u30b9\u306a\u5236\u5fa1\u304c\u3067\u304d\u3066\u3044\u306a\u3044\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u306e\u3067\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u306e\u52d5\u304d\u3082\u304e\u3054\u3061\u306a\u304f\u306a\u3063\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\" data-lang=\"Plain Text\"><code>[WARNING] The waitTime=2000 of function absoluteWait is not enough!\r\nThe program has already cost 3588us.<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<p>\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u4ecb\u3057\u305fGo1\u3078\u306e\u6307\u793a\u306f\u3001\u524d\u9032\u3084\u5f8c\u9000\u306a\u3069High level\u5236\u5fa1\u76f8\u5f53\u306e\u3082\u306e\u306e\u305f\u3081\u3001\u3042\u307e\u308alow level\u5236\u5fa1\u306e\u5b9f\u611f\u304c\u3042\u308a\u307e\u305b\u3093\u3002\u3057\u304b\u3057\u3001\u4f8b\u3048\u3070\u4e0b\u8a18\u306e\u52d5\u753b\u306e\u3088\u3046\u306b\u4f53\u3092\u3072\u306d\u308a\u3059\u304e\u3066\u30d0\u30e9\u30f3\u30b9\u3092\u5d29\u3057\u304b\u3051\u3066\u3044\u308b\u72b6\u614b\u3067\u306f\u3001\u30d0\u30e9\u30f3\u30b9\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u50cd\u304d\u306b\u3088\u308a\u3001\u4f53\u52e2\u3092\u7acb\u3066\u76f4\u3059\u305f\u3081\u306b\u8db3\u8e0f\u307f\u3092\u3059\u308b\u52d5\u4f5c\u304c\u898b\u3089\u308c\u308b\u306a\u3069\u3001\u524d\u5f8c\u5de6\u53f3\u306e\u52d5\u304d\u306e\u305f\u3081\u3060\u3051\u3067\u306a\u3044\u8db3\u8e0f\u307f\u306e\u69d8\u5b50\u304c\u5206\u304b\u308a\u307e\u3059\u3002<\/p>\n<div style=\"width: 1249px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-344983-2\" width=\"1249\" height=\"703\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/balance-720p.mp4?_=2\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/balance-720p.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/balance-720p.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>\u307e\u305f\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306b\u3001~\/unitree_ws\/src\/unitree_guide\/unitree_guide\/src\/main.cpp \u306e79\uff5e80\u884c\u76ee\u306e\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3092\u5909\u66f4\u3057\u3066\u30d3\u30eb\u30c9\u3059\u308b\u3053\u3068\u3067\u3001\u30af\u30ed\u30fc\u30eb\u6b69\u884c\u306a\u3069\u306e\u5225\u306e\u6b69\u884c\u30d1\u30bf\u30fc\u30f3\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u5b9f\u884c\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u3010\u5909\u66f4\u524d\u3011<\/strong><\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-cpp\" data-lang=\"C++\"><code> 79\u00a0 \u00a0 <span style=\"color: #ff0000;\">ctrlComp-&gt;waveGen = new WaveGenerator(0.45, 0.5, Vec4(0, 0.5, 0.5, 0)); \/\/ Trot<\/span>\r\n 80\u00a0 \u00a0 <span style=\"color: #ff0000;\">\/\/<\/span> ctrlComp-&gt;waveGen = new WaveGenerator(1.1, 0.75, Vec4(0, 0.25, 0.5, 0.75)); \/\/Crawl, only for sim\r\n 81\u00a0 \u00a0 \/\/ ctrlComp-&gt;waveGen = new WaveGenerator(0.4, 0.6, Vec4(0, 0.5, 0.5, 0)); \/\/Walking Trot, only for sim\r\n 82\u00a0 \u00a0 \/\/ ctrlComp-&gt;waveGen = new WaveGenerator(0.4, 0.35, Vec4(0, 0.5, 0.5, 0)); \/\/Running Trot, only for sim\r\n 83\u00a0 \u00a0 \/\/ ctrlComp-&gt;waveGen = new WaveGenerator(0.4, 0.7, Vec4(0, 0, 0, 0)); \/\/Pronk, only for sim<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<p><strong>\u3010\u5909\u66f4\u5f8c\u3011<\/strong><\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-cpp\" data-lang=\"C++\"><code><span style=\"color: #000000;\"> 79\u00a0 \u00a0 <span style=\"color: #ff0000;\">\/\/<\/span> ctrlComp-&gt;waveGen = new WaveGenerator(0.45, 0.5, Vec4(0, 0.5, 0.5, 0)); \/\/ Trot\r\n 80\u00a0 \u00a0 <span style=\"color: #ff0000;\">ctrlComp-&gt;waveGen = new WaveGenerator(1.1, 0.75, Vec4(0, 0.25, 0.5, 0.75)); \/\/Crawl, only for sim<\/span><\/span>\r\n 81\u00a0 \u00a0 \/\/ ctrlComp-&gt;waveGen = new WaveGenerator(0.4, 0.6, Vec4(0, 0.5, 0.5, 0)); \/\/Walking Trot, only for sim\r\n 82\u00a0 \u00a0 \/\/ ctrlComp-&gt;waveGen = new WaveGenerator(0.4, 0.35, Vec4(0, 0.5, 0.5, 0)); \/\/Running Trot, only for sim\r\n 83\u00a0 \u00a0 \/\/ ctrlComp-&gt;waveGen = new WaveGenerator(0.4, 0.7, Vec4(0, 0, 0, 0)); \/\/Pronk, only for sim<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<div style=\"width: 1249px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-344983-3\" width=\"1249\" height=\"703\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/crawl-720p.mp4?_=3\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/crawl-720p.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/crawl-720p.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h4>5. \u7d42\u308f\u308a\u306b<\/h4>\n<p>\u4ee5\u4e0a\u306e\u3088\u3046\u306b\u3001Unitree\u793e\u306egithub\u306b\u63b2\u8f09\u3055\u308c\u3066\u3044\u308b unitree_guide \u3092\u4f7f\u3046\u3053\u3068\u3067\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067low level\u5236\u5fa1\u306b\u3088\u308b\u6b69\u884c\u304c\u4f53\u9a13\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u3055\u3089\u306b\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306e\u5185\u5bb9\u3092\u5909\u66f4\u3059\u308b\u3053\u3068\u3067\u3001\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u3092low level\u5236\u5fa1\u306b\u3088\u308a\u6b69\u884c\u3055\u305b\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u306e\u3067\u3001\u3053\u3061\u3089\u306b\u3064\u3044\u3066\u306f\u307e\u305f\u5225\u8a18\u4e8b\u306b\u3066\u3002<\/p>\n<p>\u8ffd\u8a18\uff1a<br \/>\n\u30e1\u30fc\u30ab\u30fc\u306eunitree_guide\u306b\u95a2\u3059\u308b\u8a18\u4e8b\u3082\u8ffd\u52a0\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u3053\u3061\u3089\u3082\u4f75\u305b\u3066\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<br \/>\n<a href=\"https:\/\/support.unitree.com\/home\/en\/Algorithm_Practice\" target=\"_blank\" rel=\"noopener\">Algorithm_Practice &#8211; Unitree Documentation Center<\/a><\/p>\n<p>&nbsp;<\/p>\n<p>\u4ee5\u4e0a<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. \u6982\u8981 Unitree\u793e\u306egithub\u306b\u63b2\u8f09\u3055\u308c\u3066\u3044\u308b\u300cunitree_guide\u300d\u3092\u5b9f\u884c\u3057\u3066\u307f\u307e\u3057\u305f\u3002 unitree_guide\u306b\u306f\u3001Unitree\u793e\u304c\u767a\u884c\u3057\u3066\u3044\u308b\u56db\u8db3\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306e\u6559\u79d1\u66f8\u306b\u5bfe\u5fdc\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u683c &hellip;<\/p>\n","protected":false},"author":6,"featured_media":344998,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,26],"tags":[],"class_list":["post-344983","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-go1","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344983","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\/6"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=344983"}],"version-history":[{"count":10,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344983\/revisions"}],"predecessor-version":[{"id":345384,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344983\/revisions\/345384"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media\/344998"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344983"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344983"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344983"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}