{"id":345746,"date":"2024-03-28T12:17:47","date_gmt":"2024-03-28T03:17:47","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345746"},"modified":"2025-03-18T09:21:20","modified_gmt":"2025-03-18T00:21:20","slug":"answering_question_by_question","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/answering_question_by_question.html","title":{"rendered":"\u3010Unitree Go2\u3011\u4e00\u554f\u4e00\u7b54FAQ"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001Unitree Go2\u3092\u8cfc\u5165\u3055\u308c\u305f\u304a\u5ba2\u69d8\u304b\u3089\u3088\u304f\u3042\u308b\u3054\u8cea\u554f\u5185\u5bb9\u3092\u3001\u4e00\u554f\u4e00\u7b54\u5f62\u5f0f\u3067\u307e\u3068\u3081\u305f\u3082\u306e\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u4e00\u554f\u4e00\u7b54\uff08\u3059\u3079\u3066\u306e\u6a5f\u7a2e\u306b\u3064\u3044\u3066\uff09<\/h3>\n<hr \/>\n<ul>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: Go2\u3092\u6b69\u304b\u305b\u308b\u3068\u3001\u53f3\u65b9\u5411\u306b\u884c\u304f\u3053\u3068\u304c\u3042\u307e\u308a\u306b\u3082\u591a\u3044\u3067\u3059\u304c\u3053\u308c\u306f\u6b63\u5e38\u3067\u3059\u304b\uff1f<\/li>\n<\/summary>\n<p>A: \u521d\u671f\u59ff\u52e2\u304c\u5c11\u3057\u305a\u308c\u3066\u3044\u308b\u3068\u3001\u53f3\u306b\u884c\u304d\u3084\u3059\u304f\u306a\u308b\u3053\u3068\u306f\u4ed6\u306eGo2\u3067\u3082\u78ba\u8a8d\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u521d\u671f\u59ff\u52e2\u304c\u6b63\u3057\u3044\u304b\u4eca\u4e00\u5ea6\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002<br \/>\n\u307e\u305f\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\u3053\u3068\u3067\u3055\u3089\u306b\u72b6\u6cc1\u304c\u6539\u5584\u3059\u308b\u3053\u3068\u304c\u3042\u308a\u307e\u3059\u3002\u7279\u306bIMU\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\u3068\u3088\u3044\u3053\u3068\u304c\u591a\u3044\u3067\u3059\u3002\u4e0b\u8a18\u306e\u30ea\u30f3\u30af\u306e\u3088\u3046\u306b\u30b9\u30de\u30db\u30a2\u30d7\u30ea\u304b\u3089\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\uff1a<br \/>\n<a href=\"https:\/\/www.youtube.com\/watch?v=KPoGbCeRUBU&#038;list=PLJaMZYYjldgOS7IEZODioMkb_fMWphRoJ&#038;index=4\">Unitree Go2 Calibration &#8211; YouTube<\/a><br \/>\n\u307e\u305f\u4e00\u5fdc\u3001Offset Configuration\u304b\u3089\u5fae\u4fee\u6b63\u3082\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u308c\u306fCalibration\u306e\u4e0b\u306e\u3042\u305f\u308a\u304b\u3089\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/04\/go2_calibration_configuration.jpg\" alt=\"null\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/04\/go2_offset_config.jpg\" alt=\"null\" \/><br \/>\n\u203b\u3053\u306e\u8a2d\u5b9a\u306f\u518d\u8d77\u52d5\u5f8c\u3082\u4fdd\u5b58\u3055\u308c\u307e\u3059<br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: Go2\u672c\u4f53\u306b\u30da\u30a4\u30ed\u30fc\u30c9\u3092\u80cc\u8ca0\u3063\u305f\u5834\u5408\u3001\u4f55\u304b\u8a2d\u5b9a\u3057\u306a\u3051\u308c\u3070\u306a\u308a\u307e\u305b\u3093\u304b\uff1f<\/li>\n<\/summary>\n<p>A: Go2\u672c\u4f53\u306b\u30da\u30a4\u30ed\u30fc\u30c9\u3092\u88c5\u7740\u3057\u305f\u5834\u5408\u3001\u57fa\u672c\u7684\u306b\u306f\u8a2d\u5b9a\u3057\u306a\u304f\u3066\u3082\u554f\u984c\u306f\u3042\u308a\u307e\u305b\u3093\u304c\u3001\u30b9\u30de\u30db\u30a2\u30d7\u30ea\u304b\u3089\u300cpayload configuration\u300d\u3068\u3044\u3046\u8a2d\u5b9a\u3092\u3059\u308b\u3053\u3068\u3067\u3001\u3055\u3089\u306a\u308b\u5b89\u5b9a\u6027\u3092\u7372\u5f97\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u308c\u306fCalibration\u306e\u4e0b\u306e\u3042\u305f\u308a\u304b\u3089\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/04\/go2_payload_config.jpg\" alt=\"null\" \/><br \/>\n\u203b\u3053\u306e\u8a2d\u5b9a\u306f\u518d\u8d77\u52d5\u5f8c\u3082\u4fdd\u5b58\u3055\u308c\u307e\u3059<br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: Go2\u306e\u30e2\u30fc\u30bf\u306e\u6570\u306f12\u500b\u3068\u306e\u3053\u3068\u3067\u3059\u304c\u3001\u672c\u4f53\u306e\u3069\u306e\u3042\u305f\u308a\u306b\u30e2\u30fc\u30bf\u304c\u3042\u308b\u306e\u304b\uff1f<\/li>\n<\/summary>\n<p>  A: Go2\u306e\u30e2\u30fc\u30bf\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>\u5404\u8db3\u306e\u4ed8\u3051\u6839\u306b3\u3064\u306e\u30e2\u30fc\u30bf\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/li>\n<li>\u4f53\u306e\u4e2d\u306bBody\u30e2\u30fc\u30bf\u30fc\u304c\u3042\u308a\u307e\u3059\u3002<\/li>\n<li>\u8db3\u306e\u4ed8\u3051\u6839\u306e\u90e8\u5206\u306b\u3001\u3055\u3089\u306b2\u3064\u306e\u30e2\u30fc\u30bf\u30fc\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/li>\n<\/ul>\n<p>\u3000\u8a73\u3057\u304f\u306f\u4e0b\u8a18\u306e\u753b\u50cf\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<br \/>\n  <img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/07\/go2_motor_position.png\" alt=\"null\" \/><br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: Joystick\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\uff08Handheld Remote Control\uff09\u306e\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u53ce\u7d0d\u5834\u6240\u306f\u3069\u3053\u3067\u3059\u304b\uff1f<\/li>\n<\/summary>\n<p>  A: \u30b9\u30c6\u30a3\u30c3\u30af\u306e\u53ce\u7d0d\u5834\u6240\u306f\u4e0b\u8a18\u306e\u30ea\u30f3\u30af\u304b\u3089\u3054\u78ba\u8a8d\u3044\u305f\u3060\u3051\u307e\u3059\u3002<br \/>\n  <a href=\"https:\/\/techshareinc-my.sharepoint.com\/:b:\/g\/personal\/koji_ishikawa_techshare_co_jp\/EZKbFfISnUJJsKIc8Ps1RlUBJhJ6UA-lshrEhH97esDB1A?e=MYjk4Q\">joystick\u53ce\u7d0d\u5834\u6240<\/a><br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: \u5145\u96fb\u6642\u9593\u306f\u3069\u308c\u304f\u3089\u3044\u304b\u304b\u308a\u307e\u3059\u304b\u3002<\/li>\n<\/summary>\n<p>  A: \u4e0b\u56f3\u3092\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<br \/>\n  <img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/9112c8e5d26432535d86f96a474d1452.png\" alt=\"\u5145\u96fb\u6642\u9593\u306e\u56f3\" width=\"865\" height=\"153\" class=\"alignnone size-full wp-image-346547\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/9112c8e5d26432535d86f96a474d1452.png 865w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/9112c8e5d26432535d86f96a474d1452-300x53.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/9112c8e5d26432535d86f96a474d1452-768x136.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/9112c8e5d26432535d86f96a474d1452-426x75.png 426w\" sizes=\"auto, (max-width: 865px) 100vw, 865px\" \/><br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\u4e00\u554f\u4e00\u7b54\uff08R&#038;D\u7248\u4ee5\u4e0a\u306b\u3064\u3044\u3066\uff09<\/h3>\n<hr \/>\n<ul>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: R&#038;D plus\u3068R&#038;D standard\u306e\u78ba\u8a8d\u65b9\u6cd5\u306f\uff1f<\/li>\n<\/summary>\n<p>A: R&#038;D plus\u304a\u3088\u3073R&#038;D standard\u306e\u30e2\u30c7\u30eb\u3092\u8b58\u5225\u3059\u308b\u65b9\u6cd5\u306f\u3001\u80cc\u4e2d\u306e\u30b7\u30fc\u30eb\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u3067\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\u3001\u30b7\u30fc\u30eb\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u300c100TOPS\u300d\u304cR&#038;D plus\u30e2\u30c7\u30eb\u3092\u3001\u300c40 TOPS\u300d\u304cR&#038;D standard\u30e2\u30c7\u30eb\u3092\u793a\u3057\u3066\u3044\u307e\u3059\u3002\u3053\u306e\u60c5\u5831\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u3067\u3001\u304a\u6301\u3061\u306e\u88fd\u54c1\u304c\u3069\u3061\u3089\u306e\u30e2\u30c7\u30eb\u306b\u8a72\u5f53\u3059\u308b\u304b\u3092\u5224\u65ad\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/04\/Go2OrinCheck.png\" alt=\"null\" \/><\/p>\n<p>\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u3067\u884c\u3046\u5834\u5408\u306f\u3001lscpu\u3067\u30b3\u30a2\u6570\u3092\u5224\u65ad\u3059\u308b\u306a\u3069\u306e\u65b9\u6cd5\u304c\u3042\u308a\u307e\u3059\u3002\u4e0b\u8a18\u306fplus(Orin NX)\u306e\u5834\u5408\u3067\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>unitree@ubuntu:~$ lscpu\r\nArchitecture:                    aarch64\r\nCPU op-mode(s):                  32-bit, 64-bit\r\nByte Order:                      Little Endian\r\nCPU(s):                          8\r\nOn-line CPU(s) list:             0-7\r\nThread(s) per core:              1\r\nCore(s) per socket:              4\r\nSocket(s):                       2\r\nVendor ID:                       ARM\r\nModel:                           1\r\nModel name:                      ARMv8 Processor rev 1 (v8l)\r\nStepping:                        r0p1\r\nCPU max MHz:                     1984.0000\r\nCPU min MHz:                     115.2000\r\nBogoMIPS:                        62.50\r\nL1d cache:                       512 KiB\r\nL1i cache:                       512 KiB\r\nL2 cache:                        2 MiB\r\nL3 cache:                        4 MiB\r\nVulnerability Itlb multihit:     Not affected\r\nVulnerability L1tf:              Not affected\r\nVulnerability Mds:               Not affected\r\nVulnerability Meltdown:          Not affected\r\nVulnerability Spec store bypass: Mitigation; Speculative Store Bypass disabled via prctl\r\nVulnerability Spectre v1:        Mitigation; __user pointer sanitization\r\nVulnerability Spectre v2:        Not affected\r\nVulnerability Srbds:             Not affected\r\nVulnerability Tsx async abort:   Not affected\r\nFlags:                           fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm lrcpc dcpop asimddp uscat ilrcpc flagm<\/code><\/pre>\n<\/div>\n<p>\u306a\u3069\u3067\u78ba\u8a8d\u53ef\u80fd\u3067\u3059\u3002<br \/>\n\u306a\u304a\u3001\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3067\u306fOrin NX\u306e\u5834\u5408\u3067\u3082\u3001NVIDIA Orin NX Developer Kit\u3068NVIDIA Orin Nano Developer Kit\u306e\u4e21\u65b9\u304c\u78ba\u8a8d\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u5224\u65ad\u306b\u306f\u4f7f\u3048\u307e\u305b\u3093\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>unitree@ubuntu:~$ cat \/sys\/firmware\/devicetree\/base\/model\r\nNVIDIA Orin NX Developer Kit<\/code><\/pre>\n<\/div>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: Go2 R&#038;D\u7248\u306b\u3064\u3044\u3066\u642d\u8f09\u30c7\u30d0\u30a4\u30b9\u3078\u306e\u30a2\u30af\u30bb\u30b9\u65b9\u6cd5\u306f\uff1f<\/li>\n<\/summary>\n<p>A: \u80cc\u9762\u306b\u642d\u8f09\u3055\u308c\u305fDocking Station(Jetson Orin Nano\/NX)\u306b\u306f\u30a2\u30af\u30bb\u30b9\u304c\u53ef\u80fd\u3067\u3059\uff1a<\/p>\n<ul>\n<li>\u30e6\u30fc\u30b6\u30fc\u540d: unitree<\/li>\n<li>IP\u30a2\u30c9\u30ec\u30b9: 192.168.123.18<\/li>\n<li>\u30d1\u30b9\u30ef\u30fc\u30c9: 123<\/li>\n<\/ul>\n<p>\u3053\u306e\u30c7\u30d0\u30a4\u30b9\u306b\u306f\u3001\u30e6\u30fc\u30b6\u30fc\u5074\u304b\u3089\u30a2\u30af\u30bb\u30b9\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u4e00\u65b9\u3001Go2\u5185\u90e8\u306b\u306fIP\u30a2\u30c9\u30ec\u30b9192.168.123.161\u3092\u5272\u308a\u5f53\u3066\u3089\u308c\u305f\u5225\u306e\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u304c\u5b58\u5728\u3057\u307e\u3059\u304c\u3001\u3053\u3061\u3089\u306fSSH\u63a5\u7d9a\u306b\u306f\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u305b\u3093\u3002<br \/>\n\u53c2\u8003\u306b\u306a\u308bURL\u306f\u4ee5\u4e0b\u306e\u3068\u304a\u308a\u3067\u3059\uff1a<\/p>\n<ul>\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_pc_lan.html\">\u3010Unitree Go2\u3011SDK or ROS\u3092\u4f7f\u3046\u65b9\u6cd5 &#8211; TechShare\u306eFAQ\u30da\u30fc\u30b8<\/a><\/li>\n<li><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/module_update\">\u516c\u5f0f\uff1aUnitree\u306e\u958b\u767a\u8005\u5411\u3051\u30b5\u30dd\u30fc\u30c8\u30da\u30fc\u30b8<\/a><\/li>\n<\/ul>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: D1\u306e\u63a5\u7d9a\u306b\u3064\u3044\u3066\u3001\u30ed\u30b0\u30a4\u30f3\u53ef\u80fd\u306aUbuntu\u74b0\u5883\u3067\u3059\u304b\uff1f<\/li>\n<\/summary>\n<p>A: \u306f\u3044\u3001D1\u306b\u3064\u3044\u3066\u306f\u3001Ubuntu\u74b0\u5883\u3067\u306e\u30ed\u30b0\u30a4\u30f3\u304c\u53ef\u80fd\u3067\u3059\u3002D1\u3078\u306e\u30a2\u30af\u30bb\u30b9\u60c5\u5831\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n<ul>\n<li>\u30e6\u30fc\u30b6\u30fc\u540d: ubuntu<\/li>\n<li>IP\u30a2\u30c9\u30ec\u30b9: 192.168.123.100<\/li>\n<li>\u30d1\u30b9\u30ef\u30fc\u30c9: 123<\/li>\n<\/ul>\n<p>\u3053\u306e\u60c5\u5831\u3092\u4f7f\u7528\u3057\u3066\u3001Go2\u304c\u306a\u3044\u72b6\u614b\u3067\u3082D1\u306b\u30a2\u30af\u30bb\u30b9\/\u4f7f\u7528\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<br \/>\n\u53c2\u8003URL\u3068\u3057\u3066\u3001\u4ee5\u4e0b\u306e\u30b5\u30a4\u30c8\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<ul>\n<li><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Payload\">\u516c\u5f0f\uff1aUnitree\u306ePayload\u958b\u767a\u8005\u5411\u3051\u30b5\u30dd\u30fc\u30c8\u30da\u30fc\u30b8<\/a><\/li>\n<li><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/D1Arm_services\">\u516c\u5f0f\uff1aUnitree\u306eD1 Arm\u30b5\u30fc\u30d3\u30b9\u958b\u767a\u8005\u5411\u3051\u30b5\u30dd\u30fc\u30c8\u30da\u30fc\u30b8<\/a><\/li>\n<\/ul>\n<p>\u3053\u308c\u3089\u306e\u30ea\u30bd\u30fc\u30b9\u3092\u53c2\u7167\u3059\u308b\u3053\u3068\u3067\u3001D1\u306e\u8a2d\u5b9a\u3084\u64cd\u4f5c\u306b\u95a2\u3059\u308b\u8a73\u7d30\u60c5\u5831\u3092\u5f97\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: \u5185\u5bb9\u7269\u306e\u30b4\u30e0\u306f\u3069\u306e\u3088\u3046\u306b\u4f7f\u3046\u306e\u3067\u3059\u304b?<\/li>\n<\/summary>\n<p>A: \u540c\u68b1\u3055\u308c\u3066\u3044\u308b\u30b4\u30e0\u306f\u3001\u30b1\u30fc\u30d6\u30eb\u3092\u56fa\u5b9a\u3059\u308b\u305f\u3081\u306b\u8a2d\u8a08\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\u3001\u771f\u3093\u4e2d\u306b\u3042\u308b3\u3064\u306e\u30b9\u30ea\u30c3\u30c8\u306b\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30b1\u30fc\u30d6\u30eb\u306a\u3069\u3092\u631f\u307f\u8fbc\u3080\u3053\u3068\u3067\u4f7f\u7528\u3057\u307e\u3059\u3002\u3053\u306e\u30b4\u30e0\u306f\u3001\u4e00\u822c\u7684\u306bDocking Station\u3092\u4f7f\u7528\u3059\u308b\u969b\u306b\u306f\u5fc5\u8981\u3068\u3055\u308c\u306a\u3044\u90e8\u54c1\u3067\u3059\u3002\u30b1\u30fc\u30d6\u30eb\u306e\u6574\u7406\u3084\u56fa\u5b9a\u304c\u5fc5\u8981\u306a\u5834\u5408\u306b\u306e\u307f\u4f7f\u7528\u3057\u3066\u304f\u3060\u3055\u3044\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/Go2_rubber.jpg\" alt=\"null\" \/><br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: GO2\u306eCAD\u30c7\u30fc\u30bf\u306f\u3069\u3053\u3067\u5165\u624b\u3067\u304d\u307e\u3059\u304b\uff1f<\/li>\n<\/summary>\n<p>A: GO2\u306eCAD\u30c7\u30fc\u30bf\u306f\u3001\u4ee5\u4e0b\u306e\u30ea\u30f3\u30af\u5148\u3067\u5165\u624b\u53ef\u80fd\u3067\u3059\u3002<br \/>\n1. <a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Obtain%20SDK\">Obtain SDK &#8211; Unitree<\/a><br \/>\n2. GitHub\u4e0a\u306eUnitree\u306e\u516c\u5f0f\u30ea\u30dd\u30b8\u30c8\u30ea\u3067\u3082\u5229\u7528\u53ef\u80fd\u3067\u3059\uff1a<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros\/tree\/master\/robots\/go2_description\">unitree_ros\/robots\/go2_description at master \u00b7 unitreerobotics\/unitree_ros (github.com)<\/a><br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: Unitree\u88fd\u54c1\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306f\u3042\u308a\u307e\u3059\u304b\uff1f<\/li>\n<\/summary>\n<p>  A: \u306f\u3044\u3001\u4ee5\u4e0b\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u304c\u3042\u308a\u307e\u3059\u3002\u305f\u3060\u3057\u3001<strong>\u3044\u305a\u308c\u3082HighLevel\u5236\u5fa1\u306f\u30b5\u30dd\u30fc\u30c8\u3055\u308c\u3066\u304a\u3089\u305a\u3001LowLevel\u5236\u5fa1\u306e\u307f\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u3059\u3002<\/strong><\/p>\n<p>  1. <strong>Gazebo\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3067\u306eGo2\u306e\u52d5\u4f5c<\/strong><br \/>\n      &#8211; <strong>\u6982\u8981<\/strong>: Gazebo\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u4f7f\u7528\u3057\u3066Go2\u3092\u52d5\u4f5c\u3055\u305b\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<br \/>\n      &#8211; <strong>\u5bfe\u5fdc\u72b6\u6cc1<\/strong>: ROS1\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n      &#8211; <strong>\u30ea\u30f3\u30af<\/strong>: <a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros\" target=\"_blank\" rel=\"noopener\">unitree_ros<\/a><\/p>\n<p>  2. <strong>Mujoco\u3067\u306eGo2\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3<\/strong><br \/>\n      &#8211; <strong>\u6982\u8981<\/strong>: Mujoco\u4e0a\u3067ROS2\u3092\u4f7f\u7528\u3057\u3066Go2\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3059\u3002<br \/>\n      &#8211; <strong>\u5bfe\u5fdc\u72b6\u6cc1<\/strong>: ROS2\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n      &#8211; <strong>\u30ea\u30f3\u30af<\/strong>: <a href=\"https:\/\/github.com\/unitreerobotics\/unitree_mujoco\" target=\"_blank\" rel=\"noopener\">unitree_mujoco<\/a><br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: Go2 \u30ed\u30dc\u30c3\u30c8\u306e\u30d5\u30ed\u30f3\u30c8\u30e9\u30f3\u30d7\u306e\u8272\u5236\u5fa1\u306f\u53ef\u80fd\u3067\u3059\u304b?<\/li>\n<\/summary>\n<p>A: Go2 \u30ed\u30dc\u30c3\u30c8\u306e\u30d5\u30ed\u30f3\u30c8\u30e9\u30f3\u30d7\u306e\u8272\u306b\u3064\u3044\u3066\u306e\u5236\u5fa1\u306f\u73fe\u5728\u3001\u30b5\u30dd\u30fc\u30c8\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3002\u3053\u308c\u306f\u3001\u30b7\u30b9\u30c6\u30e0\u306e\u72b6\u614b\u8868\u793a\u306b\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u305f\u3081\u3067\u3059\u3002\u4f8b\u3048\u3070\u3001\u969c\u5bb3\u7269\u56de\u907f\u6a5f\u80fd\u304cON\u306e\u5834\u5408\u306f\u7dd1\u8272\u3001OFF\u306e\u5834\u5408\u306f\u9752\u8272\u3001\u30aa\u30fc\u30d0\u30fc\u30d2\u30fc\u30c8\u6642\u306b\u306f\u8d64\u304f\u70b9\u6ec5\u3059\u308b\u306a\u3069\u306e\u6a5f\u80fd\u304c\u3042\u308a\u307e\u3059\u3002\u4eca\u5f8c\u306e\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3067\u6a5f\u80fd\u62e1\u5f35\u304c\u884c\u308f\u308c\u308b\u53ef\u80fd\u6027\u306f\u3042\u308a\u307e\u3059\u304c\u3001\u73fe\u5728\u306e\u3068\u3053\u308d\u306f\u5236\u9650\u3055\u308c\u3066\u3044\u307e\u3059\u3002<br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: Mid360\u7248\u8cfc\u5165\u306e\u5834\u5408\u3001SLAM\u30b5\u30f3\u30d7\u30eb\u306f\u3042\u308a\u307e\u3059\u304b\uff1f<\/li>\n<\/summary>\n<p>A:<br \/>\n\u30e1\u30fc\u30ab\u30fc\u304c\u7528\u610f\u3057\u3066\u3044\u308bMid360\u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u30b5\u30f3\u30d7\u30eb\u306b\u3064\u304d\u307e\u3057\u3066\u306f\u3001\u30e1\u30fc\u30ab\u30fc\u3068\u4f55\u5ea6\u3082\u3084\u308a\u53d6\u308a\u3057\u305f\u306e\u3067\u3059\u304c\u3001\u7d50\u5c40\u3046\u307e\u304f\u52d5\u304d\u307e\u305b\u3093\u3067\u3057\u305f\u3002\uff08<a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/SLAM%20and%20Navigation_service\">SLAM Navigation_service &#8211; Unitree<\/a>\u3001<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_how_to_use_mid360.html\">\u3010Unitree Go2\u3011Mid360\u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u30b5\u30f3\u30d7\u30eb\u306e\u4f7f\u3044\u65b9\uff08\u73fe\u5728\u4f5c\u6210\u4e2d\u3067\u3059\uff09<\/a>\uff09<br \/>\n\u30e1\u30fc\u30ab\u30fc\u304c\u7528\u610f\u3057\u3066\u3044\u308b\u3082\u306e\u306b\u3064\u3044\u3066\u306f\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3082\u304b\u306a\u308a\u96a0\u3055\u308c\u3066\u3057\u307e\u3063\u3066\u3044\u308b\u3068\u3044\u3046\u3053\u3068\u3082\u52a0\u5473\u3057\u3001\u5f0a\u793e\u3067SLAM\u30b5\u30f3\u30d7\u30eb\u306e\u7528\u610f\u3092\u3059\u308b\u3053\u3068\u306b\u3044\u305f\u3057\u307e\u3057\u305f\u3002\u4e0b\u8a18\u3088\u308a\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u30fbMid360\u306e\u5b9f\u884c\uff1a<br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/techshare_mid360_foxy.html\">\u3010Unitree Go2\u3011Mid360\u3092\u52d5\u304b\u3057\u3066\u307f\u308b\u2013 TechShare FAQ<\/a><\/p>\n<p>\u30fbMid360 on Go2\u306b\u3088\u308bSLAM\u306e\u5b9f\u884c\uff1a<br \/>\n\u3000\u524d\u7de8\uff1a<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/mid360_slam_fast-lio.html\">\u3010Unitree Go2\u3011Mid360\u3067SLAM\u3092\u5b9f\u884c\u3059\u308b\u2013 TechShare FAQ<\/a><br \/>\n\u3000\u5f8c\u7de8\uff1a<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/mid360-on-go2_fast-lio.html\">\u3010Unitree Go2\u3011Mid360 on Go2\u3067FAST-LIO\u3092\u4f7f\u3046\u2013 TechShare FAQ<\/a><br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: \u30ed\u30dc\u30c3\u30c8\u306eHandStrap\u306f\u982d\u90e8\u5074\u3082\u53d6\u308a\u5916\u305b\u308b\u306e\u3067\u3059\u304b\uff1f<\/li>\n<\/summary>\n<p>A: \u30ed\u30dc\u30c3\u30c8\u306eHandStrap\u306f\u3001\u5f8c\u65b9\u90e8\u5206\u304c\u30cd\u30b8\u3067\u5916\u308c\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u982d\u90e8\u5074\u3082\u53d6\u308a\u5916\u3059\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002\u3075\u305f\u3092\u5916\u3059\u3053\u3068\u3067\u53d6\u308a\u5916\u3057\u304c\u3067\u304d\u308b\u8a2d\u8a08\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u8a73\u3057\u3044\u53d6\u308a\u5916\u3057\u65b9\u306b\u3064\u3044\u3066\u306f\u3001\u4e0b\u8a18\u306e\u30ea\u30f3\u30af\u306e\u30d3\u30c7\u30aa\u30ac\u30a4\u30c9\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<a href=\"https:\/\/techshareinc-my.sharepoint.com\/:v:\/g\/personal\/koji_ishikawa_techshare_co_jp\/EV4_QPrmVv9PrugVZaygPgMBNm4CXcxfxuYWcVwgvDUh-g?nav=eyJyZWZlcnJhbEluZm8iOnsicmVmZXJyYWxBcHAiOiJPbmVEcml2ZUZvckJ1c2luZXNzIiwicmVmZXJyYWxBcHBQbGF0Zm9ybSI6IldlYiIsInJlZmVycmFsTW9kZSI6InZpZXciLCJyZWZlcnJhbFZpZXciOiJNeUZpbGVzTGlua0NvcHkifX0&#038;e=DfxEqy&#038;referrer=Outlook.Desktop&#038;referrerScenario=email-linkwithembed\">\u30d3\u30c7\u30aa\u30ac\u30a4\u30c9\u3092\u898b\u308b<\/a><br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<details>\n<summary style=\"cursor: pointer;\">\n<li style=\"font-size: 20px;\">Q: \u30da\u30a4\u30ed\u30fc\u30c9\u3092\u8ffd\u52a0\u3059\u308b\u969b\u306e\u7d66\u96fb\u6027\u80fd\u306e\u5236\u7d04\u306b\u3064\u3044\u3066\u77e5\u308a\u305f\u3044\u3067\u3059\u3002\u62e1\u5f35\u30c9\u30c3\u30ad\u30f3\u30b0\u30b9\u30c6\u30fc\u30b7\u30e7\u30f3\u304b\u3089\u306eDC\u7d66\u96fb\u3067\u5404\u96fb\u5727\u306e\u4f9b\u7d66\u53ef\u80fd\u306a\u96fb\u6d41\u5024\u3068\u6700\u5927\u6d88\u8cbb\u96fb\u529b\u3092\u6559\u3048\u3066\u304f\u3060\u3055\u3044\u3002<\/li>\n<\/summary>\n<p>  A: \u62e1\u5f35\u30c9\u30c3\u30ad\u30f3\u30b0\u30b9\u30c6\u30fc\u30b7\u30e7\u30f3\u304b\u3089\u306e\u7d66\u96fb\u306e\u6027\u80fd\u306b\u3064\u3044\u3066\u306f\u3001\u4ee5\u4e0b\u306e\u8cc7\u6599\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\uff1a<br \/>\n  <a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Payload\" target=\"_blank\" rel=\"noopener\">\u5b87\u6811\u79d1\u6280 \u6587\u6863\u4e2d\u5fc3 (unitree.com)<\/a><br \/>\n<\/details>\n<p>&nbsp;<\/p>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3088\u304f\u3042\u308b\u3054\u8cea\u554f\u5185\u5bb9\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 \u672c\u8a18\u4e8b\u3067\u306f\u3001Unitree Go2\u3092\u8cfc\u5165\u3055\u308c\u305f\u304a\u5ba2\u69d8\u304b\u3089\u3088\u304f\u3042\u308b\u3054\u8cea\u554f\u5185\u5bb9\u3092\u3001\u4e00\u554f\u4e00\u7b54\u5f62\u5f0f\u3067\u307e\u3068\u3081\u305f\u3082\u306e\u306b\u306a\u308a\u307e\u3059\u3002 &nbsp; \u4e00\u554f\u4e00\u7b54\uff08\u3059\u3079\u3066\u306e\u6a5f\u7a2e\u306b\u3064\u3044\u3066\uff09 Q: Go2\u3092\u6b69\u304b\u305b\u308b\u3068\u3001\u53f3\u65b9\u5411\u306b\u884c\u304f\u3053\u3068\u304c\u3042 &hellip;<\/p>\n","protected":false},"author":15,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72,26],"tags":[],"class_list":["post-345746","post","type-post","status-publish","format-standard","hentry","category-go2","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345746","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=345746"}],"version-history":[{"count":47,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345746\/revisions"}],"predecessor-version":[{"id":347011,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345746\/revisions\/347011"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345746"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345746"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345746"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}