{"id":394,"date":"2025-07-08T15:48:29","date_gmt":"2025-07-08T06:48:29","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=394"},"modified":"2025-07-08T15:48:30","modified_gmt":"2025-07-08T06:48:30","slug":"%e3%80%90%e9%96%8b%e7%99%ba%e3%80%91unitree-g1go2%e3%82%92%e4%bb%ae%e6%83%b3%e7%a9%ba%e9%96%93%e3%81%a7%e3%82%b7%e3%83%9f%e3%83%a5%e3%83%ac%e3%83%bc%e3%83%88","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=394","title":{"rendered":"\u3010\u958b\u767a\u3011Unitree G1,Go2\u3092\u4eee\u60f3\u7a7a\u9593\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30c8"},"content":{"rendered":"\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_74 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u76ee\u6b21<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 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href=\"https:\/\/robolease.disr-inc.com\/?p=394\/#Docker%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\" >Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/robolease.disr-inc.com\/?p=394\/#ROS2%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\" >ROS2\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/robolease.disr-inc.com\/?p=394\/#MiniConda%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\" >MiniConda\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/robolease.disr-inc.com\/?p=394\/#Isaac_Sim%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\" >Isaac Sim\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><ul class='ez-toc-list-level-2' ><li class='ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/robolease.disr-inc.com\/?p=394\/#%E3%83%AC%E3%83%9D%E3%82%B8%E3%83%88%E3%83%AA%E3%81%AE%E8%A8%AD%E5%AE%9A\" >\u30ec\u30dd\u30b8\u30c8\u30ea\u306e\u8a2d\u5b9a<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/robolease.disr-inc.com\/?p=394\/#%E8%B5%B7%E5%8B%95\" >\u8d77\u52d5<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/robolease.disr-inc.com\/?p=394\/#%E3%81%8A%E3%82%8F%E3%82%8A%E3%81%AB\" >\u304a\u308f\u308a\u306b<\/a><\/li><\/ul><\/nav><\/div>\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%AF%E3%81%98%E3%82%81%E3%81%AB\"><\/span>\u306f\u3058\u3081\u306b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>Isaac Sim\u3092\u4f7f\u7528\u3057\u3066\u3001Unitree\u88fd\u54c1\u3092\u4eee\u60f3\u7a7a\u9593\u4e0a\u3067\u52d5\u4f5c\u3055\u305b\u307e\u3059\u3002<br>\u672c\u4f53\u3092\u76f4\u63a5\u958b\u767a\u3059\u308b\u306e\u306b\u306f\u3001\u30cf\u30fc\u30c9\u30eb\u304c\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u306e\u3067\u3001\u307e\u305a\u306f\u4eee\u60f3\u7a7a\u9593\u4e0a\u3067\u3001\u958b\u767a\u3059\u308b\u3053\u3068\u3092\u304a\u3059\u3059\u3081\u3057\u3066\u304a\u308a\u307e\u3059\u3002\u4eca\u56de\u7d39\u4ecb\u3059\u308b\u30ec\u30dd\u30b8\u30c8\u30ea\u306b\u306f\u3001ROS2\u3067\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3082\u542b\u307e\u308c\u3066\u304a\u308a\u307e\u3059\u306e\u3067\u3001rviz2\u3067\u306e\u9023\u643a\u3084\u30ed\u30fc\u30ec\u30d9\u30eb\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u306e\u64cd\u4f5c\u306b\u3082\u5bfe\u5fdc\u3057\u3066\u304a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E9%96%8B%E7%99%BA%E7%92%B0%E5%A2%83\"><\/span>\u958b\u767a\u74b0\u5883<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li>OS : Ubuntu 22.04 <\/li>\n\n\n\n<li>GPU: RTX3090<\/li>\n\n\n\n<li>Isaac Sim: 2023.1.1<\/li>\n\n\n\n<li>Isaac Lab: 0.3.1<\/li>\n\n\n\n<li>Nvidia Driver: 545<\/li>\n<\/ul>\n\n\n\n<p>Isaac Sim\u3092\u4f7f\u7528\u3059\u308b\u305f\u3081\u306b\u306fGPU\u30de\u30b7\u30f3\u304c\u5fc5\u8981\u3068\u306a\u308a\u307e\u3059\u3002\u4e0b\u8a18\u3001\u63a8\u5968\u30b9\u30da\u30c3\u30af\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>Element<\/th><th>Minimum Spec<\/th><th>Good<\/th><th>Ideal<\/th><\/tr><\/thead><tbody><tr><td>OS<\/td><td>Ubuntu 20.04\/22.04Windows 10\/11<\/td><td>Ubuntu 20.04\/22.04Windows 10\/11<\/td><td>Ubuntu 20.04\/22.04Windows 10\/11<\/td><\/tr><tr><td>CPU<\/td><td>Intel Core i7 (7th Generation)AMD Ryzen 5<\/td><td>Intel Core i7 (9th Generation)AMD Ryzen 7<\/td><td>Intel Core i9, X-series or higherAMD Ryzen 9, Threadripper or higher<\/td><\/tr><tr><td>Cores<\/td><td>4<\/td><td>8<\/td><td>16<\/td><\/tr><tr><td>RAM<\/td><td>32GB <a href=\"https:\/\/docs.isaacsim.omniverse.nvidia.com\/4.5.0\/installation\/requirements.html#id6\">[1]<\/a><\/td><td>64GB <a href=\"https:\/\/docs.isaacsim.omniverse.nvidia.com\/4.5.0\/installation\/requirements.html#id6\">[1]<\/a><\/td><td>64GB <a href=\"https:\/\/docs.isaacsim.omniverse.nvidia.com\/4.5.0\/installation\/requirements.html#id6\">[1]<\/a><\/td><\/tr><tr><td>Storage<\/td><td>50GB SSD<\/td><td>500GB SSD<\/td><td>1TB NVMe SSD<\/td><\/tr><tr><td>GPU<\/td><td>GeForce RTX 3070<\/td><td>GeForce RTX 4080<\/td><td>RTX Ada 6000<\/td><\/tr><tr><td>VRAM<\/td><td>8GB <a href=\"https:\/\/docs.isaacsim.omniverse.nvidia.com\/4.5.0\/installation\/requirements.html#id6\">[1]<\/a><a href=\"https:\/\/docs.isaacsim.omniverse.nvidia.com\/4.5.0\/installation\/requirements.html#id7\">[2]<\/a><\/td><td>16GB<\/td><td>48GB<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E4%BA%8B%E5%89%8D%E6%BA%96%E5%82%99\"><\/span>\u4e8b\u524d\u6e96\u5099<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u4ee5\u4e0b\u3001\u305d\u308c\u305e\u308c\u3092\u4e8b\u524d\u306b\u6e96\u5099\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Docker%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\"><\/span>Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p><a href=\"https:\/\/docs.nvidia.com\/datacenter\/cloud-native\/container-toolkit\/latest\/install-guide.html\">https:\/\/docs.nvidia.com\/datacenter\/cloud-native\/container-toolkit\/latest\/install-guide.html<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"ROS2%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\"><\/span>ROS2\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>ROS2 humble\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p><a href=\"https:\/\/docs.ros.org\/en\/humble\/Installation\/Alternatives\/Ubuntu-Install-Binary.html\">https:\/\/docs.ros.org\/en\/humble\/Installation\/Alternatives\/Ubuntu-Install-Binary.html<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"MiniConda%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\"><\/span>MiniConda\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p><a href=\"https:\/\/www.anaconda.com\/docs\/getting-started\/miniconda\/install#macos-linux-installation\">https:\/\/www.anaconda.com\/docs\/getting-started\/miniconda\/install#macos-linux-installation<\/a><\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Isaac_Sim%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\"><\/span>Isaac Sim\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u4eca\u56de\u5bfe\u5fdc\u3057\u3066\u3044\u308b2023.1.1\u304comniverse launcher\u3067\u5229\u7528\u3067\u304d\u306a\u3044\u306e\u3067\u3001Docker\u3092\u4f7f\u7528\u3057\u3066Isaac Sim\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u30a4\u30e1\u30fc\u30b8\u3092Pull\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\ndocker pull nvcr.io\/nvidia\/isaac-sim:2023.1.1\n<\/pre><\/div>\n\n\n<p>\u30a4\u30e1\u30fc\u30b8\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\ndocker run --name isaac-sim --entrypoint bash -it --runtime=nvidia --gpus all -e &quot;ACCEPT_EULA=Y&quot; --rm --network=host \\\n    -e &quot;PRIVACY_CONSENT=Y&quot; \\\n    -v ~\/docker\/isaac-sim\/cache\/kit:\/isaac-sim\/kit\/cache:rw \\\n    -v ~\/docker\/isaac-sim\/cache\/ov:\/root\/.cache\/ov:rw \\\n    -v ~\/docker\/isaac-sim\/cache\/pip:\/root\/.cache\/pip:rw \\\n    -v ~\/docker\/isaac-sim\/cache\/glcache:\/root\/.cache\/nvidia\/GLCache:rw \\\n    -v ~\/docker\/isaac-sim\/cache\/computecache:\/root\/.nv\/ComputeCache:rw \\\n    -v ~\/docker\/isaac-sim\/logs:\/root\/.nvidia-omniverse\/logs:rw \\\n    -v ~\/docker\/isaac-sim\/data:\/root\/.local\/share\/ov\/data:rw \\\n    -v ~\/docker\/isaac-sim\/documents:\/root\/Documents:rw \\\n    nvcr.io\/nvidia\/isaac-sim:2023.1.1\n<\/pre><\/div>\n\n\n<p>Isaac Sim\u306e\u672c\u4f53\u3092\u30b3\u30f3\u30c6\u30ca\u304b\u3089\u30db\u30b9\u30c8\u30de\u30b7\u30fc\u30f3\u306b\u30b3\u30d4\u30fc\u3057\u307e\u3059\u3002\u30b3\u30f3\u30c6\u30ca\u306eID\u306fdocker ps -a\u3067\u78ba\u8a8d\u3057\u3066\u304a\u304d\u307e\u3059\u3002\u30b3\u30d4\u30fc\u304c\u5b8c\u4e86\u3057\u305f\u3089Docker\u306f\u4f7f\u7528\u3057\u306a\u3044\u306e\u3067\u7d42\u4e86\u3057\u3066\u554f\u984c\u306a\u3044\u3067\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\ndocker cp &amp;lt;id_container&gt;:isaac-sim\/.  .local\/share\/ov\/pkg\/\n<\/pre><\/div>\n\n\n<p>Isaac Lab 0.3.1\u3092Clone\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\ngit clone --branch v0.3.1 --depth 1 https:\/\/github.com\/isaac-sim\/IsaacLab.git\n<\/pre><\/div>\n\n\n<p>\u74b0\u5883\u5909\u6570\u3092\u767b\u9332<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\nexport ISAACSIM_PATH=&quot;${HOME}\/.local\/share\/ov\/pkg\/isaac-sim-2023.1.1&quot;\nexport ISAACSIM_PYTHON_EXE=&quot;${ISAACSIM_PATH}\/python.sh&quot;\n<\/pre><\/div>\n\n\n<p>lab\u306e\u30eb\u30fc\u30c8\u306b\u5165\u3063\u3066\u3001\u30ea\u30f3\u30af\u3092\u8ffd\u52a0<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\ncd IsaacLab\nln -s ${ISAACSIM_PATH} _isaac_sim\n<\/pre><\/div>\n\n\n<p>Python\u306e\u5b9f\u884c\u74b0\u5883\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n.\/orbit.sh --conda\nconda activate orbit\nsudo apt install cmake build-essential\n.\/orbit.sh --install\n.\/orbit.sh --extra rsl_rl\n<\/pre><\/div>\n\n\n<p>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u3046\u307e\u304f\u884c\u304b\u306a\u3044\u5834\u5408\u306f\u3001Numpy\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u4e0b\u3052\u308b\u5fc5\u8981\u304c\u3042\u308b\u306e\u3067\u3001\u3053\u3061\u3089\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\npip reinstall numpy==1.23.5 scipy==1.9.3\n<\/pre><\/div>\n\n\n<p>rsl_rl\u304c\u3046\u307e\u304f\u5165\u3089\u306a\u304b\u3063\u305f\u5834\u5408\u306f\u3001\u3053\u3061\u3089\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\npip install rsl-rl-lib==2.2.3\n<\/pre><\/div>\n\n\n<p>\u5b9f\u969b\u306bIsaac Sim\u304c\u7acb\u3061\u4e0a\u304c\u308c\u3070\u52d5\u4f5c\u78ba\u8a8d\u306fOK\u3067\u3059<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\npython source\/standalone\/tutorials\/00_sim\/create_empty.py\n<\/pre><\/div>\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%AC%E3%83%9D%E3%82%B8%E3%83%88%E3%83%AA%E3%81%AE%E8%A8%AD%E5%AE%9A\"><\/span>\u30ec\u30dd\u30b8\u30c8\u30ea\u306e\u8a2d\u5b9a<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u6709\u5fd7\u304c\u4f5c\u6210\u3055\u308c\u305fGo2 Omniverse\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002\u30eb\u30fc\u30c8\u306b\u623b\u3063\u3066\u30ec\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\ngit clone https:\/\/github.com\/abizovnuralem\/go2_omniverse\/ --recurse-submodules -j8 --depth=1\n<\/pre><\/div>\n\n\n<p>Isaac Lab\u306bL1Lidar\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u30b3\u30d4\u30fc\u3057\u307e\u3059<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\ncp ~\/go2_omniverse\/Isaac_sim\/Unitree\/Unitree_L1.json ~\/IsaacLab\/source\/data\/sensors\/lidar\/\n<\/pre><\/div>\n\n\n<p>\u7d20\u6750\u3092\u30b3\u30d4\u30fc\u3057\u307e\u3059<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\ncp -r ${ISAACSIM_PATH}\/data\/material_files\/* ~\/IsaacLab\/source\/data\/material_files\/\n<\/pre><\/div>\n\n\n<p>\u4eee\u60f3\u7a7a\u9593\u3092\u3053\u3061\u3089\u304b\u3089\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u3001\/envs\u5185\u306b\u4fdd\u5b58\u3057\u307e\u3059\u3002\u7acb\u3061\u4e0a\u3052\u306e\u3068\u304d\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u306b&#8211;custom_env=office\u3068\u3059\u308b\u3053\u3068\u3067\u7a7a\u9593\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/drive\/folders\/1vVGuO1KIX1K6mD6mBHDZGm9nk2vaRyj3?usp=sharing\">https:\/\/drive.google.com\/drive\/folders\/1vVGuO1KIX1K6mD6mBHDZGm9nk2vaRyj3?usp=sharing<\/a><\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E8%B5%B7%E5%8B%95\"><\/span>\u8d77\u52d5<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>.\/run_sim.sh\u3067Go2\u304c\u8d77\u52d5\u3067\u304d\u3001.\/run_sim_g1.sh\u3067G1\u3092\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u307e\u305f\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u306e\u5165\u529b\u306b\u5fdc\u3058\u3066\u64cd\u4f5c\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>A key: Move Left<\/li>\n\n\n\n<li>S key:Move Back <\/li>\n\n\n\n<li>D key:Move Right <\/li>\n\n\n\n<li>Q key:Trun Right,<\/li>\n\n\n\n<li>W key: Move Forward<\/li>\n\n\n\n<li>R key:Trun Left<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"662\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-1024x662.png\" alt=\"\" class=\"wp-image-395\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-1024x662.png 1024w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-300x194.png 300w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-768x496.png 768w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image.png 1438w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"662\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-1-1024x662.png\" alt=\"\" class=\"wp-image-396\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-1-1024x662.png 1024w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-1-300x194.png 300w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-1-768x496.png 768w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-1.png 1438w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p>\u30d5\u30ed\u30f3\u30c8\u30ab\u30e1\u30e9\u306e\u6620\u50cf\u3082\u53d6\u5f97\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"662\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-2-1024x662.png\" alt=\"\" class=\"wp-image-397\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-2-1024x662.png 1024w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-2-300x194.png 300w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-2-768x496.png 768w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-2.png 1438w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p>ROS2\u3068\u9023\u52d5\u3057\u3066\u3044\u308b\u306e\u3067\u3001\u30ed\u30fc\u30ec\u30d9\u30ebAPI\u3078\u306e\u6307\u793a\u3084Lidar\u3001\u30ab\u30e1\u30e9\u60c5\u5831\u3082\u53d6\u5f97\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n$ ros2 topic list\n\/parameter_events\n\/robot0\/cmd_vel\n\/robot0\/front_cam\/rgb\n\/robot0\/go2_states\n\/robot0\/imu\n\/robot0\/joint_states\n\/robot0\/odom\n\/robot0\/point_cloud2\n\/rosout\n\/tf\n<\/pre><\/div>\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%8A%E3%82%8F%E3%82%8A%E3%81%AB\"><\/span>\u304a\u308f\u308a\u306b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>Isaac Sim\u3092\u5229\u7528\u3057\u305f\u4eee\u60f3\u7a7a\u9593\u3067\u306e\u74b0\u5883\u69cb\u7bc9\u306e\u65b9\u6cd5\u3092\u7d39\u4ecb\u3057\u307e\u3057\u305f\u3002ROS2\u3068\u9023\u52d5\u3059\u308b\u3053\u3068\u3067\u3001\u4eee\u60f3\u74b0\u5883\u4e0a\u3067\u7269\u4f53\u8a8d\u8b58\u306e\u5b9f\u88c5\u3084Lidar\u3092\u4f7f\u7528\u3057\u305fSLAM\u306e\u5b9f\u88c5\u304c\u53ef\u80fd\u3068\u306a\u308a\u307e\u3059\u3002GPU\u74b0\u5883\u304c\u3042\u308c\u3070\u304a\u8a66\u3057\u3044\u305f\u3060\u304f\u306e\u306f\u3044\u304b\u304c\u3067\u3057\u3087\u3046\u304b\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"\u306f\u3058\u3081\u306b Isaac Sim\u3092\u4f7f\u7528\u3057\u3066\u3001Unitree\u88fd\u54c1\u3092\u4eee\u60f3\u7a7a\u9593\u4e0a\u3067\u52d5\u4f5c\u3055\u305b\u307e\u3059\u3002\u672c\u4f53\u3092\u76f4\u63a5\u958b\u767a\u3059\u308b\u306e\u306b\u306f\u3001\u30cf\u30fc\u30c9\u30eb\u304c\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u306e\u3067\u3001\u307e\u305a\u306f\u4eee\u60f3\u7a7a\u9593\u4e0a\u3067\u3001\u958b\u767a\u3059\u308b\u3053\u3068\u3092\u304a\u3059\u3059\u3081\u3057\u3066\u304a\u308a\u307e\u3059\u3002\u4eca\u56de\u7d39\u4ecb\u3059\u308b\u30ec\u30dd\u30b8\u30c8\u30ea [&hellip;]","protected":false},"author":1,"featured_media":395,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[27,32,28],"tags":[],"class_list":["post-394","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-howto","category-unitreeg1","category-28"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image.png","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/394","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=394"}],"version-history":[{"count":1,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/394\/revisions"}],"predecessor-version":[{"id":398,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/394\/revisions\/398"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/media\/395"}],"wp:attachment":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=394"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=394"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=394"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}