{"id":346678,"date":"2025-01-30T15:23:08","date_gmt":"2025-01-30T06:23:08","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=346678"},"modified":"2025-02-06T11:56:43","modified_gmt":"2025-02-06T02:56:43","slug":"unitree-g1-sdk","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-g1-sdk.html","title":{"rendered":"\u3010Unitree G1\u3011\u958b\u767a\u74b0\u5883\u306b\u3064\u3044\u3066\uff08SDK\uff09"},"content":{"rendered":"<h3>\u306f\u3058\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001Unitree G1\u3092\u7528\u3044\u3066\u3001SDK(<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\">unitree_sdk2<\/a>)\u3092\u52d5\u304b\u3059\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3054\u6848\u5185\u3057\u307e\u3059\u3002<br \/>\n\u4eca\u56de\u306f\u3001G1\u306e\u5185\u90e8PC\u304b\u3089\u5b9f\u884c\u3057\u307e\u3057\u305f\u3002<br \/>\n&nbsp;<\/p>\n<h3>\u74b0\u5883<\/h3>\n<hr \/>\n<p>\u74b0\u5883\u306f\u3001\u6b21\u306e\u3082\u306e\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u3002<\/p>\n<ul>\n<li>\u6a5f\u7a2e: G1 <strong>R&amp;D Standard(Edu)<\/strong><\/li>\n<li>\u5916\u90e8PC: Windows11\uff08\u672c\u8a18\u4e8b\u3067\u306fWindows\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u304c\u3001G1\u306e\u5185\u90e8PC\u3092\u4f7f\u3046\u306e\u3067\u3001\u307b\u304b\u306eOS\u3067\u3082\u69cb\u3044\u307e\u305b\u3093\u3002\uff09<\/li>\n<li>WSL: \u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<br \/>\n<img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_000_wsl_ver.png\" width=\"644\" height=\"181\" class=\"\" \/><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>0. \u53c2\u8003\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8<\/h3>\n<hr \/>\n<h5>unitree_sdk2<\/h5>\n<ul>\n<li><a href=\"https:\/\/support.unitree.com\/home\/en\/G1_developer\"><span>G1 SDK Development Guide<\/span><\/a><\/li>\n<li><a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\">GitHub<\/a><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>1. \u74b0\u5883\u8a2d\u5b9a<\/h3>\n<hr \/>\n<p>\u6709\u7dda\u3067G1\u306bssh\u63a5\u7d9a\u3059\u308b\u5834\u5408\u3001<\/p>\n<ul>\n<li>\u30e6\u30fc\u30b6\u30fc\u540d\uff1aunitree<\/li>\n<li>\u30d1\u30b9\u30ef\u30fc\u30c9\uff1a123<\/li>\n<li>IP\u30a2\u30c9\u30ec\u30b9\uff1a192.168.123.164<\/li>\n<\/ul>\n<p>\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>[\u5916\u90e8PC]<\/strong><\/p>\n<div class=\"hcb_wrap\">\n<pre><code>ssh unitree@192.168.123.164\r\n123\r\n1<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p>ssh\u304c\u6210\u529f\u3059\u308b\u3068\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_001_ssh_and_ls.png\" width=\"1029\" height=\"492\" class=\"\" \/><\/p>\n<p>\u6ce8\u610f\u2460\uff1aG1\u306f\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u8a2d\u5b9a\u3092\u3057\u306a\u3044\u3068\u3001\u7121\u7dda\u63a5\u7d9a\u3067\u304d\u307e\u305b\u3093\u3002<\/p>\n<p>\u6ce8\u610f\u2461\uff1aG1\u3068\u6709\u7dda\u63a5\u7d9a\u3059\u308b\u5834\u5408\u3001\u30a4\u30fc\u30b5\u30cd\u30c3\u30c8\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092G1\u3068\u540c\u3058\u30b5\u30d6\u30cd\u30c3\u30c8\uff08\u4f8b\uff1a<code>192.168.123.212\/24<\/code>\uff09\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_001_ethenet_IP_.png\" width=\"1250\" height=\"689\" class=\"\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>2. SDK\u3092\u4f7f\u3046\u65b9\u6cd5<\/h3>\n<hr \/>\n<p><a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\">unitree_sdk2<\/a>\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n<h5>(1) \u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u4f5c\u6210<\/h5>\n<p>\u6700\u521d\u306b\u3001\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002(\u4eca\u56de\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u540d\u306f<code>ts_ws<\/code>\u3068\u3057\u3066\u3044\u307e\u3059\u3002)<\/p>\n<p>&nbsp;<\/p>\n<p><strong>[\u5185\u90e8PC\uff08ssh\u3067\u30a2\u30af\u30bb\u30b9\uff09]<\/strong><\/p>\n<pre><code>mkdir &lt;\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u540d&gt;<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_002_mkdir_workspace_ls__.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<h5>(2) \u30ec\u30dd\u30b8\u30c8\u30ea\u3092PC\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/h5>\n<p>\u6b21\u306b\u3001<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\">unitree_sdk2<\/a>\u3092PC\u306b\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>[\u5916\u90e8PC]<\/strong><\/p>\n<pre><code>git clone https:\/\/github.com\/unitreerobotics\/unitree_sdk2.git<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_003_git_clone.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>Windows\u3067wsl\u3092\u4f7f\u7528\u3057\u306a\u3044\u5834\u5408\u3001<br \/>\n<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\">unitree_sdk2<\/a>\u304b\u3089\u3001[&lt;&gt;Code] \u2192 [Download]\u306e\u9806\u306b\u30af\u30ea\u30c3\u30af\u3057\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h5>(3) unitree_sdk2\u3092G1\u306b\u8ee2\u9001\u3059\u308b<\/h5>\n<p>\u4eca\u56de\u306f\u3001G1\u304c\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u306b\u63a5\u7d9a\u3057\u3066\u3044\u306a\u3044\u3001\u304b\u3064\u5916\u90e8PC\u306eOS\u304cWindows11\u306a\u306e\u3067\u3001<\/p>\n<p><a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\">unitree_sdk2<\/a>\u3092G1\u306b\u8ee2\u9001\u3057\u3001\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u5916\u90e8PC\u306eunitree_sdk2\u304c\u683c\u7d0d\u3055\u308c\u3066\u3044\u308b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u79fb\u52d5\u3057\u3001<code>scp<\/code>\u3067\u8ee2\u9001\u3057\u307e\u3059\u3002<\/p>\n<p><strong>[\u5916\u90e8PC]<\/strong><\/p>\n<div class=\"hcb_wrap\">\n<pre><code>cd &lt;unitree_sdk2\u304c\u683c\u7d0d\u3055\u308c\u3066\u3044\u308b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea&gt;\r\nscp -r unitree_sdk2 unitree@192.168.123.164:\/home\/unitree\/ts_ws\r\nyes\r\n123<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_004_scp_unitree_sdk2.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u5ff5\u306e\u305f\u3081\u3001\u5185\u90e8PC\u306bunitree_sdk2\u304c\u3042\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n<p><strong>[\u5185\u90e8PC]<\/strong><\/p>\n<pre><code>ls &lt;\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u540d&gt;<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_005_ls_ts_ws.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<h5>(4) unitree_sdk2\u3092\u30d3\u30eb\u30c9\u3059\u308b<\/h5>\n<p>\u7121\u4e8b\u306b\u8ee2\u9001\u3067\u304d\u305f\u306e\u3067\u3001\u6b21\u306bunitree_sdk2\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002<\/p>\n<p>\u624b\u9806\u306f\u3001<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\">unitree_sdk2<\/a>\u306eInstallation\u306b\u3082\u8a18\u8f09\u3055\u308c\u3066\u304a\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>[\u5185\u90e8PC]<\/strong><\/p>\n<pre><code>cd &lt;\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u540d&gt;\/unitree_sdk2\r\nmkdir build\r\ncd build\r\ncmake ..\r\nmake<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p>\u4e0b\u306e\u753b\u50cf\u306f\u3001<code>cmake ..<\/code>\u307e\u3067<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_006_build_unitree_sdk2.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p><code>make<\/code>\u3092\u3059\u308b\u3068<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_007_build_unitree_sdk2_2.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>build\u5185\u3092\u78ba\u8a8d\u3059\u308b\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><strong>[\u5185\u90e8PC]<\/strong><\/p>\n<pre class=\"prism lang-plain\"><code>ls<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_008_ls_build.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<h5>(5) \u5b9f\u884c\u3059\u308b<\/h5>\n<p>\u30d3\u30eb\u30c9\u304c\u5b8c\u4e86\u3059\u308b\u3068\u3001SDK\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<p>\u3053\u3061\u3089\u3067\u306f\u3001\u8db3\u9996\u3092\u52d5\u304b\u3059<code>g1_ankle_swing_example<\/code>\u3068\u4e21\u8155\u3092\u52d5\u304b\u3059<code>g1_dual_arm_example<\/code>\u306e\u4e8c\u3064\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<p>\u305d\u306e\u524d\u306b\u3001\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3092\u78ba\u8a8d\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>[\u5185\u90e8PC]<\/strong><\/p>\n<pre><code>ifconfig<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_009_ifconfig.png\" \/><\/p>\n<p>\u4eca\u56de\u306f\u5185\u90e8PC\u304b\u3089\u5b9f\u884c\u3059\u308b\u306e\u3067<code>inet<\/code>\u304c<code>192.168.123.164<\/code>\u3067\u3042\u308b<code>eth0<\/code>\u3092\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u78ba\u8a8d\u5f8c\u306f\u3001\u30b5\u30f3\u30d7\u30eb\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304c\u00a0<code>\/bin<\/code>\u306b\u3042\u308a\u307e\u3059\u306e\u3067\u3001\u305d\u3061\u3089\u306b\u3042\u308b\u30b5\u30f3\u30d7\u30eb\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6>\u2460g1_ankle_swing_example<\/h6>\n<p><strong>[\u5185\u90e8PC]<\/strong><\/p>\n<pre><code>.\/bin\/g1_ankle_swing_example eth0<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_010_ankle_swing.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u5b9f\u969b\u306e\u52d5\u304d\u3067\u3059\u3002<\/p>\n<div style=\"width: 640px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-346678-1\" width=\"640\" height=\"360\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_ankle_swing.mp4?_=1\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_ankle_swing.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_ankle_swing.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<h6> \u203b \u5b9f\u884c\u6642\u30a8\u30e9\u30fc\u306b\u3064\u3044\u3066 <\/h6>\n<p>\u30b5\u30f3\u30d7\u30eb\u306e\u5b9f\u884c\u6642\u306b\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306a\u30a8\u30e9\u30fc\u304c\u51fa\u308b\u5834\u5408\u306b\u306f\u3001<code>sudo<\/code>\u3092\u3064\u3051\u3066\u884c\u3046\u3053\u3068\u3067\u3001\u6b63\u5e38\u306b\u52d5\u4f5c\u3059\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<pre><code>free(): invalid pointer\r\nAborted (core dumped)<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h6>\u2461g1_dual_arm_example<\/h6>\n<p><strong>[\u5185\u90e8PC]<\/strong><\/p>\n<pre><code>.\/bin\/g1_dual_arm_example eth0<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_011_dual_arm.png\" \/><\/p>\n<div style=\"width: 640px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-346678-2\" width=\"640\" height=\"360\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_dual_arm.mp4?_=2\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_dual_arm.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_dual_arm.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<h3>3. \u304a\u307e\u3051<\/h3>\n<hr \/>\n<p><code>g1_loco_client<\/code>\u3092\u305d\u306e\u307e\u307e\u5b9f\u884c\u3057\u3066\u3082\u52d5\u304d\u307e\u305b\u3093\u3067\u3057\u305f\u3002\uff082025\u5e741\u670830\u65e5\u73fe\u5728\uff09<\/p>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/g1_sdk_012_loco_client.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u3053\u3061\u3089\u306f\u3001\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u308b\u306a\u3069\u958b\u767a\u304c\u5fc5\u8981\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<hr \/>\n<p>G1\u306e\u958b\u767a\u74b0\u5883\u3067\u3042\u308bSDK\u306e\u4f7f\u3044\u65b9\u3092\u898b\u3066\u304d\u307e\u3057\u305f\u3002<br \/>\nG1\u306e\u958b\u767a\u74b0\u5883\u306eROS2\u306b\u3064\u3044\u3066\u306f\u3001\u5225\u306e\u8a18\u4e8b\u3067\u6295\u7a3f\u3044\u305f\u3057\u307e\u3059\u3002\u3057\u3070\u3089\u304f\u304a\u5f85\u3061\u304f\u3060\u3055\u3044\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","protected":false},"excerpt":{"rendered":"<p>\u306f\u3058\u3081\u306b \u672c\u8a18\u4e8b\u3067\u306f\u3001Unitree G1\u3092\u7528\u3044\u3066\u3001SDK(unitree_sdk2)\u3092\u52d5\u304b\u3059\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3054\u6848\u5185\u3057\u307e\u3059\u3002 \u4eca\u56de\u306f\u3001G1\u306e\u5185\u90e8PC\u304b\u3089\u5b9f\u884c\u3057\u307e\u3057\u305f\u3002 &nbsp; \u74b0\u5883 \u74b0\u5883\u306f\u3001\u6b21\u306e\u3082\u306e\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u3002 \u6a5f 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