{"id":346828,"date":"2025-02-03T18:24:22","date_gmt":"2025-02-03T09:24:22","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=346828"},"modified":"2025-02-03T18:24:22","modified_gmt":"2025-02-03T09:24:22","slug":"install_genesis","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/install_genesis.html","title":{"rendered":"\u3010\u6df1\u5c64\u5f37\u5316\u5b66\u7fd2\u3011Genesis\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u9806"},"content":{"rendered":"<h3>\u306f\u3058\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001\u6628\u5e74\u672b\u306b\u516c\u958b\u3055\u308c\u305fUnitree Go2\u306a\u3069\u56db\u8db3\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u5bb9\u3092\u958b\u767a\u3059\u308b\u305f\u3081\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3067\u3042\u308b<a href=\"https:\/\/genesis-embodied-ai.github.io\/\">Genesis<\/a>\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u9806\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3044\u305f\u3057\u307e\u3059\u3002\uff082025\u5e741\u670831\u65e5\u73fe\u5728\uff09<\/p>\n<p>\u307b\u304b\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3067\u4f7f\u7528\u3059\u308b\u30d1\u30c3\u30b1\u30fc\u30b8\u3068\u6df7\u540c\u3057\u306a\u3044\u3088\u3046\u306b\u3001\u4eee\u60f3\u74b0\u5883\u3092\u69cb\u7bc9\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u74b0\u5883<\/h3>\n<hr \/>\n<p>\u74b0\u5883\u306f\u3001\u6b21\u306e\u3082\u306e\u3092\u4f7f\u7528\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<table border=\"1\" style=\"border-collapse: collapse; width: 100%;\">\n<tbody>\n<tr>\n<th>\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u9805\u76ee<\/th>\n<th>\u74b0\u5883<\/th>\n<\/tr>\n<tr>\n<td>\u30d7\u30ed\u30bb\u30c3\u30b5\uff08CPU\uff09<\/td>\n<td>Intel\u00ae Core\u2122 i7 11700F<\/td>\n<\/tr>\n<tr>\n<td>\u30b0\u30e9\u30d5\u30a3\u30c3\u30af\u30b9\u30ab\u30fc\u30c9\uff08GPU\uff09<\/td>\n<td>NVIDIA\u00ae GeForce RTX\u2122 3060<\/td>\n<\/tr>\n<tr>\n<td>\u30ed\u30dc\u30c3\u30c8\u672c\u4f53<\/td>\n<td>\u4eca\u56de\u306f\u4f7f\u7528\u3057\u307e\u305b\u3093\u3002<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<table border=\"1\" style=\"border-collapse: collapse; width: 100%;\">\n<tbody>\n<tr>\n<th>\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u9805\u76ee<\/th>\n<th>\u74b0\u5883<\/th>\n<\/tr>\n<tr>\n<td>OS<\/td>\n<td>Ubuntu22.04<\/td>\n<\/tr>\n<tr>\n<td>Python<\/td>\n<td>3.10<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<h3>0. \u53c2\u8003\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8<\/h3>\n<hr \/>\n<h5>Genesis<\/h5>\n<ul>\n<li><a href=\"https:\/\/genesis-embodied-ai.github.io\/\">Genesis-io<\/a><\/li>\n<li><a href=\"https:\/\/github.com\/Genesis-Embodied-AI\/Genesis\">Genesis-GitHub<\/a><\/li>\n<li><a href=\"https:\/\/genesis-world.readthedocs.io\/en\/latest\/user_guide\/getting_started\/locomotion.html\">Training Locomotion Policies with RL Genesis documentation<\/a><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h5>RSL RL<\/h5>\n<ul>\n<li><a href=\"https:\/\/github.com\/leggedrobotics\/rsl_rl\">RSL RL-GitHub<\/a><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>1. Genesis\u3092\u30af\u30ed\u30fc\u30f3\u3059\u308b<\/h3>\n<hr \/>\n<p>\u307e\u305a\u3001<a href=\"https:\/\/github.com\/Genesis-Embodied-AI\/Genesis\">Genesis-GitHub<\/a>\u3092\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<pre><code>git clone https:\/\/github.com\/Genesis-Embodied-AI\/Genesis.git<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/genesis_002_clone_genesis.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>2. \u4eee\u60f3\u74b0\u5883\u3092\u4f5c\u308b<\/h3>\n<hr \/>\n<p>Genesis\u76f4\u4e0b\u306b\u4eee\u60f3\u74b0\u5883\u3092\u4f5c\u6210\u3057\u3001\u8d77\u52d5\u3057\u307e\u3059\u3002(\u4eca\u56de\u306e\u4eee\u60f3\u74b0\u5883\u540d\u306f<code>venv<\/code>\u3067\u3059\u3002)<\/p>\n<p>&nbsp;<\/p>\n<pre><code>cd Genesis\r\npython3 -m venv .\/&lt;\u4eee\u60f3\u74b0\u5883\u540d&gt;\r\nsource &lt;\u4eee\u60f3\u74b0\u5883\u540d&gt;\/bin\/activate<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/genesis_003_venv.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u4eee\u60f3\u74b0\u5883\u304c\u8d77\u52d5\u3059\u308b\u3068\u3001<code>(&lt;\u4eee\u60f3\u74b0\u5883\u540d&gt;)<\/code>\u304c\u51fa\u73fe\u3057\u307e\u3059\u3002<\/p>\n<pre><code>deactivate<\/code><\/pre>\n<p>\u3092\u5b9f\u884c\u3059\u308b\u3068\u4eee\u60f3\u74b0\u5883\u3092\u7d42\u4e86\u3067\u304d\u307e\u3059\u304c\u3001\u4ee5\u964d\u3001Genesis\u3092\u4f7f\u3044\u305f\u3044\u5834\u5408\u3001\u5fc5\u305a\u4eee\u60f3\u74b0\u5883\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>3. genesis-world\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b<\/h3>\n<hr \/>\n<p>\u4eee\u60f3\u74b0\u5883\u3092\u8d77\u52d5\u3059\u308b\u3068\u3001genesis-world\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<pre><code>pip install genesis-world<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/genesis_004_install_genesis_world.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>4. Gensis\u3067<code>pip install -e .<\/code>\u3092\u884c\u3046<\/h3>\n<hr \/>\n<p>&nbsp;<\/p>\n<pre><code>pip install -e .<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/genesis_005_install-e_in_Genesis.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>5. RSL RL<\/h3>\n<hr \/>\n<p>\u6b21\u306b\u3001\u5f37\u5316\u5b66\u7fd2\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u3042\u308bRSL RL\u3092github\u304b\u3089\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002\uff08<a href=\"https:\/\/genesis-world.readthedocs.io\/en\/latest\/user_guide\/getting_started\/locomotion.html\">Training Locomotion Policies with RL Genesis documentation<\/a>\uff09<\/p>\n<p>&nbsp;<br \/>\n<code>tensorboard<\/code>\u3082\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n<pre><code>git clone https:\/\/github.com\/leggedrobotics\/rsl_rl\r\ncd rsl_rl\r\ngit checkout v1.0.2\r\npip install -e .\r\npip install tensorboard<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><code>pip install -e .<\/code>\u307e\u3067<\/p>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/genesis_006_clone_rsl_rl.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p><code>tensorboard<\/code>\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/genesis_008_install_tensorboard.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>6. \u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u8a13\u7df4\u3092\u884c\u3046<\/h3>\n<hr \/>\n<p>\u5fc5\u8981\u306a\u3082\u306e\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u305f\u306e\u3067\u3001\u3044\u3088\u3044\u3088\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u8a13\u7df4\u3057\u307e\u3059\u3002<br \/>\n\u4eca\u56de\u306f<code>examples\/locomotion<\/code>\u306b\u3042\u308b<code>go2_train.py<\/code>\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<br \/>\n\u307e\u305f\u3001<code>tensorboard<\/code>\u3067\u5b66\u7fd2\u306e\u69d8\u5b50\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<pre><code>cd ..\r\npython examples\/locomotion\/go2_train.py<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/genesis_009_example_go2_train.png\" \/><\/p>\n<p>&nbsp;<br \/>\n\u307e\u305f\u3001<code>tensorboard<\/code>\u3067\u5b66\u7fd2\u6642\u306e\u5831\u916c\u306e\u69d8\u5b50\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\uff08\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u304d\u307e\u3059\u3002\uff09<\/p>\n<p>&nbsp;<\/p>\n<pre><code>tensorboard --logdir logs<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/genesis_010_tensorbord_terminal.png\" \/><\/p>\n<p>&nbsp;<br \/>\n\u30d6\u30e9\u30a6\u30b6\u3067localhost\u306b\u30a2\u30af\u30bb\u30b9\u3059\u308b\u3068\u3001<\/p>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/genesis_011_tensorboard_browser.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>7. \u8a13\u7df4\u3057\u305f\u30e2\u30c7\u30eb\u306e\u78ba\u8a8d<\/h3>\n<hr \/>\n<p>\u6700\u5f8c\u306b\u3001\u8a13\u7df4\u3057\u305f\u30e2\u30c7\u30eb\u3092\u7528\u3044\u3066Go2\u306e\u6b69\u5bb9\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<br \/>\n<code>examples\/locomotion<\/code>\u306b\u3042\u308b<code>go2_eval.py<\/code>\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<br \/>\n&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<pre><code>python examples\/locomotion\/go2_eval.py<\/code><\/pre>\n<p>&nbsp;<\/p>\n<div style=\"width: 640px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-346828-1\" width=\"640\" height=\"360\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/gensis_movie_001_example_go2_eval_720.mp4?_=1\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/gensis_movie_001_example_go2_eval_720.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/01\/gensis_movie_001_example_go2_eval_720.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<hr \/>\n<p>\u4ee5\u4e0aGenesis\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u9806\u3092\u898b\u3066\u304d\u307e\u3057\u305f\u3002<br \/>\n\u5225\u306e\u8a18\u4e8b\u306b\u3066\u3001Go2\u306e\u5b9f\u6a5f\u3067\u8a13\u7df4\u3057\u305f\u30e2\u30c7\u30eb\u306e\u78ba\u8a8d\u3092\u884c\u3046\u4e88\u5b9a\u3067\u3059\u3002<\/p>\n<p>\u307e\u305f\u3001\u5f0a\u793e\u306f\u3001Unitree\u306e\u6b63\u898f\u4ee3\u7406\u5e97\u3092\u3057\u3066\u304a\u308a\u3001Go2\u306a\u3069\u306e\u56db\u8db3\u30ed\u30dc\u30c3\u30c8\u3084G1\u306a\u3069\u306e\u30d2\u30e5\u30fc\u30de\u30ce\u30a4\u30c9\u30ed\u30dc\u30c3\u30c8\u306e\u8ca9\u58f2\u3092\u884c\u3063\u3066\u304a\u308a\u307e\u3059\u3002<br \/>\n\u3054\u8208\u5473\u304c\u3042\u308a\u307e\u3057\u305f\u3089\u3001\u500b\u5225\u3067\u9023\u7d61\u3092\u3044\u305f\u3060\u3051\u308b\u3068\u5bfe\u5fdc\u3044\u305f\u3057\u307e\u3059\u3002<\/p>\n<p>\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\u3001\u6628\u5e74\u672b\u306b\u516c\u958b\u3055\u308c\u305fUnitree Go2\u306a\u3069\u56db\u8db3\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u5bb9\u3092\u958b\u767a\u3059\u308b\u305f\u3081\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3067\u3042\u308bGenesis\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u9806\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3044\u305f\u3057\u307e\u3059\u3002\uff082025\u5e741\u670831\u65e5\u73fe\u5728\uff09 \u307b\u304b\u306e\u30b7 &hellip;<\/p>\n","protected":false},"author":31,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,72,26],"tags":[],"class_list":["post-346828","post","type-post","status-publish","format-standard","hentry","category-go1","category-go2","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/346828","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\/31"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=346828"}],"version-history":[{"count":69,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/346828\/revisions"}],"predecessor-version":[{"id":346916,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/346828\/revisions\/346916"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=346828"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=346828"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=346828"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}