{"id":623,"date":"2026-08-18T09:37:39","date_gmt":"2026-08-18T00:37:39","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=623"},"modified":"2026-08-18T09:44:09","modified_gmt":"2026-08-18T00:44:09","slug":"vr%e3%82%b4%e3%83%bc%e3%82%b0%e3%83%ab%e3%81%ab%e3%82%88%e3%82%8bunitree-g1%e3%81%ae%e3%83%86%e3%83%ac%e3%82%aa%e3%83%9a","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=623","title":{"rendered":"VR\u30b4\u30fc\u30b0\u30eb\u306b\u3088\u308bUnitree G1\u306e\u30c6\u30ec\u30aa\u30da"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u203b\u3000\u5f0a\u793e\u30a4\u30f3\u30bf\u30fc\u30f3\u306e\u4f5c\u6210\u8a18\u4e8b\u306b\u306a\u308a\u307e\u3059<\/p>\n\n\n\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 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E3%81%AF%E3%81%98%E3%82%81%E3%81%AB\" >\u306f\u3058\u3081\u306b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E3%81%93%E3%81%AE%E8%A8%98%E4%BA%8B%E3%81%A7%E3%82%8F%E3%81%8B%E3%82%8B%E3%81%93%E3%81%A8\" >\u3053\u306e\u8a18\u4e8b\u3067\u308f\u304b\u308b\u3053\u3068<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E3%82%B7%E3%82%B9%E3%83%86%E3%83%A0%E6%A7%8B%E6%88%90\" >\u30b7\u30b9\u30c6\u30e0\u69cb\u6210<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E7%92%B0%E5%A2%83\" >\u74b0\u5883<\/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=623\/#%E3%82%BB%E3%83%83%E3%83%88%E3%82%A2%E3%83%83%E3%83%97\" >\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#1_%E3%83%AA%E3%83%9D%E3%82%B8%E3%83%88%E3%83%AA%E3%82%92%E5%8F%96%E5%BE%97\" >1. \u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u53d6\u5f97<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#2_%E3%83%93%E3%83%AB%E3%83%89\" >2. \u30d3\u30eb\u30c9<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#3_%E3%83%A2%E3%83%87%E3%83%AB%E5%8F%96%E5%BE%97\" >3. \u30e2\u30c7\u30eb\u53d6\u5f97<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#4_DDS%E8%A8%AD%E5%AE%9A%EF%BC%88%E2%80%BB%E8%87%AA%E5%88%86%E3%81%8C%E3%83%8F%E3%83%9E%E3%81%A3%E3%81%9F%E3%81%A8%E3%81%93%E3%82%8D%EF%BC%89\" >4. DDS\u8a2d\u5b9a\uff08\u203b\u81ea\u5206\u304c\u30cf\u30de\u3063\u305f\u3068\u3053\u308d\uff09<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#5_%E4%B8%80%E6%8B%AC%E8%B5%B7%E5%8B%95%E3%82%B9%E3%82%AF%E3%83%AA%E3%83%97%E3%83%88\" >5. \u4e00\u62ec\u8d77\u52d5\u30b9\u30af\u30ea\u30d7\u30c8<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#PICO%E6%8E%A5%E7%B6%9A\" >PICO\u63a5\u7d9a<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E4%BA%8B%E5%89%8D%E6%BA%96%E5%82%99%EF%BC%9APICO%E5%81%B4%E3%81%AB%E5%85%A5%E3%82%8C%E3%81%A6%E3%81%8A%E3%81%8F%E3%82%82%E3%81%AE\" >\u4e8b\u524d\u6e96\u5099\uff1aPICO\u5074\u306b\u5165\u308c\u3066\u304a\u304f\u3082\u306e<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E6%8E%A5%E7%B6%9A%E3%81%A8%E9%80%81%E4%BF%A1%E3%81%AE%E8%A8%AD%E5%AE%9A\" >\u63a5\u7d9a\u3068\u9001\u4fe1\u306e\u8a2d\u5b9a<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E3%83%86%E3%83%AC%E3%82%AA%E3%83%9A%E5%AE%9F%E8%A1%8C\" >\u30c6\u30ec\u30aa\u30da\u5b9f\u884c<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E4%B8%BB%E3%81%AA%E3%82%B3%E3%83%B3%E3%83%88%E3%83%AD%E3%83%BC%E3%83%A9%E6%93%8D%E4%BD%9C\" >\u4e3b\u306a\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u64cd\u4f5c<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-16\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E7%B5%90%E6%9E%9C\" >\u7d50\u679c<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-17\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E3%81%BE%E3%81%A8%E3%82%81\" >\u307e\u3068\u3081<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-18\" href=\"https:\/\/robolease.disr-inc.com\/?p=623\/#%E5%8F%82%E8%80%83%E3%83%AA%E3%83%B3%E3%82%AF\" >\u53c2\u8003\u30ea\u30f3\u30af<\/a><\/li><\/ul><\/nav><\/div>\n<h2 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><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u3053\u6700\u8fd1\u3001\u300cPhysical AI\u300d\u3068\u3044\u3046\u8a00\u8449\u3092\u8033\u306b\u3059\u308b\u3053\u3068\u304c\u4e00\u6c17\u306b\u5897\u3048\u307e\u3057\u305f\u306d\u3002<br>\u3053\u308c\u306f\u3001AI\u306e\u77e5\u80fd\u3092\u73fe\u5b9f\u3067\u306e\u884c\u52d5\u306b\u7d50\u3073\u3064\u3051\u308b\u3082\u306e\u3067\u3059\u3002\u30a2\u30e1\u30ea\u30ab\u306e\u5de5\u5834\u306a\u3069\u3067\u306f\u3001\u3059\u3067\u306b\u305f\u304f\u3055\u3093\u306e\u5c0e\u5165\u4e8b\u4f8b\u304c\u3042\u308a\u307e\u3059\u3002<br>\u3053\u306ePhysical AI\u306b\u304a\u3051\u308b\u5927\u304d\u306a\u8ab2\u984c\u306e\u4e00\u3064\u304c\u300c\u30c7\u30fc\u30bf\u53d6\u5f97\u300d\u3067\u3059\u3002<br>\u4f8b\u3048\u3070LLM\u306f\u3001\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u4e0a\u306b\u5927\u91cf\u306e\u30c7\u30fc\u30bf\u304c\u3042\u308a\u307e\u3059\u3002\u3060\u304b\u3089\u3053\u305d\u3001\u3053\u3053\u6570\u5e74\u3067\u4e00\u6c17\u306b\u9032\u5316\u3057\u3066\u304d\u305f\u3001\u3068\u3044\u3046\u80cc\u666f\u3082\u3042\u308a\u307e\u3059\u306d\u3002<br>\u4e00\u65b9\u3001Physical AI\u306b\u306f\u305d\u3053\u307e\u3067\u5145\u5b9f\u3057\u305f\u30c7\u30fc\u30bf\u304c\u3042\u308a\u307e\u305b\u3093\u3002\u305d\u3053\u3067\u300c\u3069\u3053\u304b\u3089\u30c7\u30fc\u30bf\u3092\u88dc\u3046\u304b\u300d\u304c\u554f\u984c\u306b\u306a\u308a\u307e\u3059\u3002\u305d\u306e\u624b\u6cd5\u306e\u4e00\u3064\u304c\u3001VR\u30b4\u30fc\u30b0\u30eb\u306a\u3069\u3067\u81ea\u5206\u306e\u52d5\u304d\u3092\u30ed\u30dc\u30c3\u30c8\u306b\u8ffd\u5f93\u3055\u305b\u3001\u305d\u306e\u30c7\u30fc\u30bf\u3092\u53d6\u308b\u3001\u3068\u3044\u3046\u3082\u306e\u3067\u3059\u3002<br>\u3068\u3044\u3046\u308f\u3051\u3067\u4eca\u56de\u306f\u3001\u305d\u3093\u306a&#8221;\u5168\u8eab\u30c6\u30ec\u30aa\u30da&#8221;\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e0a\u3067\u3084\u3063\u3066\u307f\u307e\u3057\u305f\uff01<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/qiita-user-contents.imgix.net\/https%3A%2F%2Fqiita-image-store.s3.ap-northeast-1.amazonaws.com%2F0%2F4464953%2Fafaff708-6035-44fb-8b57-a92306a3d004.gif?ixlib=rb-4.1.1&amp;auto=format&amp;gif-q=60&amp;q=75&amp;s=b820a434396d7e4f418aaa01c6c3c347\" alt=\"\" style=\"width:722px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u3093\u306a\u611f\u3058\u3067\u3059\u7b11\u3002\u30b8\u30e3\u30f3\u30d7\u3082\u304a\u624b\u306e\u3082\u306e<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u57fa\u672c\u7684\u306b\u306f\u3001<a href=\"https:\/\/nvlabs.github.io\/GR00T-WholeBodyControl\/\" target=\"_blank\" rel=\"noreferrer noopener\">NVIDIA GR00T-WholeBodyControl \u516c\u5f0f<\/a>\u00a0\u306e\u5185\u5bb9\u3092\u53c2\u8003\u306b\u3057\u3066\u3044\u307e\u3059\u3002<br>\u516c\u5f0f\u306e\u60f3\u5b9a\u3057\u3066\u3044\u308b\u74b0\u5883\u3068\u5c11\u3057\u9055\u3063\u305f\u306e\u3082\u3042\u3063\u3066\u3001\u306f\u307e\u308a\u3069\u3053\u308d\u304c\u3044\u304f\u3064\u304b\u3042\u3063\u305f\u306e\u3067\u3001\u305d\u306e\u8fba\u542b\u3081\u3066\u8a71\u3057\u3066\u3044\u3051\u305f\u3089\u3068\u601d\u3044\u307e\u3059\uff01<br>\u3053\u306e\u8a18\u4e8b\u3092\u8aad\u3080\u3068\u3001VR\u30c6\u30ec\u30aa\u30da\u306e\u57fa\u672c\u7684\u306a\u3084\u308a\u65b9\u304c\u308f\u304b\u308a\u307e\u3059\u3002\u53c2\u8003\u7a0b\u5ea6\u306b\u3069\u3046\u305e\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%93%E3%81%AE%E8%A8%98%E4%BA%8B%E3%81%A7%E3%82%8F%E3%81%8B%E3%82%8B%E3%81%93%E3%81%A8\"><\/span>\u3053\u306e\u8a18\u4e8b\u3067\u308f\u304b\u308b\u3053\u3068<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>VR\u30c6\u30ec\u30aa\u30da\u306e\u5168\u4f53\u50cf<\/strong>\u00a0\u2014 PICO\uff0b\u30e2\u30fc\u30b7\u30e7\u30f3\u30c8\u30e9\u30c3\u30ab\u30fc\u3067\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u306eG1\u3092\u5168\u8eab\u64cd\u4f5c\u3059\u308b\u4ed5\u7d44\u307f<\/li>\n\n\n\n<li><strong>\u74b0\u5883\u69cb\u7bc9<\/strong>\u00a0\u2014 TensorRT\u30fbMuJoCo\u30fbGEAR-SONIC \u306e\u30d3\u30eb\u30c9\u3068\u30015\u30d7\u30ed\u30bb\u30b9\u306e\u4e00\u62ec\u8d77\u52d5\u30b9\u30af\u30ea\u30d7\u30c8<\/li>\n\n\n\n<li><strong>PICO\u63a5\u7d9a<\/strong>\u00a0\u2014 XRoboToolkit \u306e\u8a2d\u5b9a\u3068\u3001\u30ea\u30e2\u30fc\u30c8\u30b5\u30fc\u30d0\u30fc\u3078 Tailscale \u3067\u7e4b\u3050\u65b9\u6cd5<\/li>\n\n\n\n<li><strong>\u30cf\u30de\u308a\u3069\u3053\u308d<\/strong>\u00a0\u2014\u00a0<code>Lost LowState<\/code>\u00a0\u306e\u6b63\u4f53\uff08DDS\uff09\u3001\u5171\u6709IP\u306e\u7f60\u3001\u63a5\u5730\uff08<code>9<\/code>\uff09\u306e3\u3064<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B7%E3%82%B9%E3%83%86%E3%83%A0%E6%A7%8B%E6%88%90\"><\/span>\u30b7\u30b9\u30c6\u30e0\u69cb\u6210<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u7d42\u7684\u306a\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8d77\u52d5\u69cb\u6210\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th class=\"has-text-align-left\" data-align=\"left\">\u30ec\u30a4\u30e4\u30fc<\/th><th class=\"has-text-align-left\" data-align=\"left\">\u4e2d\u8eab<\/th><\/tr><\/thead><tbody><tr><td class=\"has-text-align-left\" data-align=\"left\"><strong>VR\u5074<\/strong><\/td><td class=\"has-text-align-left\" data-align=\"left\">PICO 4 \u30d8\u30c3\u30c9\u30bb\u30c3\u30c8 + \u30b3\u30f3\u30c8\u30ed\u30fc\u30e92 + \u30e2\u30fc\u30b7\u30e7\u30f3\u30c8\u30e9\u30c3\u30ab\u30fc2\uff08\u8db3\u9996\uff09+ XRoboToolkit<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\"><strong>\u30b5\u30fc\u30d0\u30fc\u5074<\/strong><\/td><td class=\"has-text-align-left\" data-align=\"left\">NVIDIA\u88fdGPU \u642d\u8f09\u306e Ubuntu \u30de\u30b7\u30f3\uff08\u4eca\u56de\u306f\u4f1a\u793e\u306e\u9060\u9694\u30b5\u30fc\u30d0\u30fc\u306b Tailscale + NoMachine \u3067\u63a5\u7d9a\uff09<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\"><strong>\u30bd\u30d5\u30c8<\/strong><\/td><td class=\"has-text-align-left\" data-align=\"left\"><code>gear_sonic_deploy<\/code>\uff1aC++ deploy\u30d0\u30a4\u30ca\u30ea + MuJoCo\u30b7\u30df\u30e5\u30ec\u30fc\u30bf + PICO streamer<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u3053\u306eGPU\u3067\u3059\u304c\u3001<strong>NVIDIA\u88fd\u3067\u306a\u3044\u3068\u30c0\u30e1\u306a\u3088\u3046\u3067\u3059<\/strong>\uff08\u666e\u901a\u306eMac\u306eGPU\u306a\u3069\u306f\u4e0d\u53ef\uff09\u3002\u7406\u7531\u306f\u3001\u3053\u306e\u30d1\u30a4\u30d7\u30e9\u30a4\u30f3\u304c CUDA \u3068 TensorRT \u3092\u4f7f\u3063\u3066\u3044\u3066\u3001\u3053\u308c\u3089\u304c NVIDIA \u5c02\u7528\u3060\u304b\u3089\u3067\u3059\u3002<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u30c7\u30fc\u30bf\u306e\u6d41\u308c\u3092\u56f3\u793a\u3059\u308b\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u611f\u3058\u3067\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"501\" height=\"831\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-13.png\" alt=\"\" class=\"wp-image-625\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-13.png 501w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-13-181x300.png 181w\" sizes=\"auto, (max-width: 501px) 100vw, 501px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%92%B0%E5%A2%83\"><\/span>\u74b0\u5883<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th class=\"has-text-align-left\" data-align=\"left\">\u9805\u76ee<\/th><th class=\"has-text-align-left\" data-align=\"left\">\u5185\u5bb9<\/th><\/tr><\/thead><tbody><tr><td class=\"has-text-align-left\" data-align=\"left\">GPU<\/td><td class=\"has-text-align-left\" data-align=\"left\">NVIDIA RTX 3090\uff0824GB\uff09<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">OS<\/td><td class=\"has-text-align-left\" data-align=\"left\">Ubuntu 22.04<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">CUDA \/ TensorRT<\/td><td class=\"has-text-align-left\" data-align=\"left\">CUDA 12.8 \/ TensorRT&nbsp;<strong>10.13<\/strong>\uff08x86_64\u306f\u30d0\u30fc\u30b8\u30e7\u30f3\u53b3\u5b88\uff09<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">VR<\/td><td class=\"has-text-align-left\" data-align=\"left\">PICO 4 + \u30e2\u30fc\u30b7\u30e7\u30f3\u30c8\u30e9\u30c3\u30ab\u30fc\u00d73<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">\u63a5\u7d9a<\/td><td class=\"has-text-align-left\" data-align=\"left\">Tailscale<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><br>\u5148\u307b\u3069GPU\u306e\u8a71\u3092\u3057\u307e\u3057\u305f\u304c\u3001NVIDIA\u88fd\u3067\u3042\u308c\u3070\u5fc5\u305a\u3057\u3082\u3053\u306e\u578b\u756a\u3067\u3042\u308b\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u5341\u5206\u306aVRAM\u304c\u3042\u308c\u3070\u554f\u984c\u306a\u3057\u3067\u3059\u3002<br>\u30e2\u30fc\u30b7\u30e7\u30f3\u30c8\u30e9\u30c3\u30ab\u30fc\u306f\u3001\u8db3\u9996\u306b2\u3064\u30fb\u8170\u306b1\u3064\u306e\u8a083\u3064\u3067\u3059\u3002<\/p>\n<\/blockquote>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><br>\u6700\u521d\u306fNoMachine\u3067\u9060\u9694\u64cd\u4f5c\u3057\u305f\u307e\u307e\u30c6\u30ec\u30aa\u30da\u3057\u3088\u3046\u3068\u3057\u305f\u306e\u3067\u3059\u304c\u3001\u9045\u5ef6\u304c\u5927\u304d\u3059\u304e\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u304c\u4e00\u77ac\u3067\u843d\u3061\u3066\u3057\u307e\u3044\u3001\u65ad\u5ff5\u3057\u307e\u3057\u305f\uff08\u30ed\u30b0\u3092\u898b\u305f\u3089500ms\u304f\u3089\u3044\u306e\u9045\u5ef6\u304c\u3042\u308a\u307e\u3057\u305f\u7b11\uff09\u3002<\/p>\n<\/blockquote>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%BB%E3%83%83%E3%83%88%E3%82%A2%E3%83%83%E3%83%97\"><\/span><br>\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"1_%E3%83%AA%E3%83%9D%E3%82%B8%E3%83%88%E3%83%AA%E3%82%92%E5%8F%96%E5%BE%97\"><\/span>1. \u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u53d6\u5f97<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u307e\u305a\u306f GitHub \u304b\u3089\u30b3\u30fc\u30c9\u3092 clone \u3057\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone https:\/\/github.com\/NVlabs\/GR00T-WholeBodyControl.git cd GR00T-WholeBodyControl \n# \u30e2\u30c7\u30eb\u3084\u30e1\u30c3\u30b7\u30e5\u306a\u3069\u5927\u304d\u3044\u30d5\u30a1\u30a4\u30eb\u306f Git LFS \u7ba1\u7406\u306a\u306e\u3067\u3001\u3053\u308c\u3082\u5b9f\u884c\u3057\u3066\u304a\u304f \ngit lfs pull<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"2_%E3%83%93%E3%83%AB%E3%83%89\"><\/span>2. \u30d3\u30eb\u30c9<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u7d9a\u3044\u3066 deploy \u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002\u6d41\u308c\u306f&nbsp;<strong>\u300c\u4f9d\u5b58\u3092\u5165\u308c\u308b \u2192 \u74b0\u5883\u5909\u6570\u3092\u901a\u3059 \u2192 \u30d3\u30eb\u30c9\u300d\u306e3\u30b9\u30c6\u30c3\u30d7<\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u524d\u63d0\u3068\u3057\u3066\u3001\u5148\u306b&nbsp;<strong>TensorRT \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066&nbsp;<code>TensorRT_ROOT<\/code>&nbsp;\u3092\u901a\u3057\u3066\u304a\u304f<\/strong>\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff08\u524d\u8ff0\u306e\u3068\u304a\u308a\u30d0\u30fc\u30b8\u30e7\u30f3\u53b3\u5b88\u3002x86_64 \u306f 10.13\uff09\u3002\u3053\u308c\u3092\u5fd8\u308c\u308b\u3068\u3001\u6b21\u306e&nbsp;<code>setup_env.sh<\/code>&nbsp;\/&nbsp;<code>just build<\/code>&nbsp;\u3067 TensorRT \u3092\u898b\u3064\u3051\u3089\u308c\u305a\u3001\u3046\u307e\u304f\u30b3\u30fc\u30c9\u304c\u52d5\u304d\u307e\u305b\u3093\u3002<\/p>\n<\/blockquote>\n\n\n\n<pre class=\"wp-block-code\"><code>cd gear_sonic_deploy   # clone \u3057\u305f GR00T-WholeBodyControl \u306e\u76f4\u4e0b\u306b\u3042\u308b deploy \u30d5\u30a9\u30eb\u30c0\n\n# \u2460 \u30d3\u30eb\u30c9\u306b\u5fc5\u8981\u306a\u30b7\u30b9\u30c6\u30e0\u4f9d\u5b58\uff08cmake\u30fb\u5404\u7a2e\u30e9\u30a4\u30d6\u30e9\u30ea\u7b49\uff09\u3092\u4e00\u62ec\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nchmod +x scripts\/install_deps.sh   # \u5b9f\u884c\u6a29\u9650\u304c\u306a\u3051\u308c\u3070\u4ed8\u4e0e\n.\/scripts\/install_deps.sh\n\n# \u2461 TensorRT\u306e\u30d1\u30b9\u306a\u3069\u3001\u30d3\u30eb\u30c9\/\u5b9f\u884c\u306b\u5fc5\u8981\u306a\u74b0\u5883\u5909\u6570\u3092\u307e\u3068\u3081\u3066\u30bb\u30c3\u30c8\nsource scripts\/setup_env.sh\n\n# \u2462 \u30d3\u30eb\u30c9\u5b9f\u884c\uff08just \u306f make \u306e\u3088\u3046\u306a\u30b3\u30de\u30f3\u30c9\u30e9\u30f3\u30ca\u30fc\uff09\njust build<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5404\u30b3\u30de\u30f3\u30c9\u304c\u3084\u3063\u3066\u3044\u308b\u3053\u3068:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong><code>install_deps.sh<\/code><\/strong>\u00a0\u2026 cmake \u306a\u3069\u306e\u30d3\u30eb\u30c9\u30c4\u30fc\u30eb\u3084\u4f9d\u5b58\u30e9\u30a4\u30d6\u30e9\u30ea\u3092 apt \u306a\u3069\u3067\u307e\u3068\u3081\u3066\u5c0e\u5165<\/li>\n\n\n\n<li><strong><code>setup_env.sh<\/code><\/strong>\u00a0\u2026 TensorRT \u306e\u5834\u6240\u3084\u5404\u7a2e\u30d1\u30b9\u3092\u74b0\u5883\u5909\u6570\u306b\u8a2d\u5b9a\uff08\u3053\u308c\u3092\u5fd8\u308c\u308b\u3068\u30d3\u30eb\u30c9\u304c TensorRT \u3092\u898b\u3064\u3051\u3089\u308c\u306a\u3044\uff09<\/li>\n\n\n\n<li><strong><code>just build<\/code><\/strong>\u00a0\u2026\u00a0<code>just<\/code>\uff08\uff1d\u00a0<code>make<\/code>\u00a0\u7684\u306a\u30bf\u30b9\u30af\u30e9\u30f3\u30ca\u30fc\uff09\u3067 C++ \u306e deploy \u30d0\u30a4\u30ca\u30ea\u3092\u751f\u6210<\/li>\n<\/ul>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><strong>\u30cf\u30de\u308a\u3069\u3053\u308d<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>ROS2 \u304c\u5165\u3063\u3066\u3044\u308b\u3068 CycloneDDS \u304c\u885d\u7a81\u3059\u308b<\/strong>\u00a0\u2192 \u30d3\u30eb\u30c9\u524d\u306b\u00a0<code>export HAS_ROS2=0<\/code>\u00a0\u3092\u6307\u5b9a\u3057\u3066\u56de\u907f\uff08ROS2\u5074\u306eDDS\u3092\u4f7f\u308f\u305b\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff09<\/li>\n\n\n\n<li>\u4e00\u90e8\u306e\u30bd\u30fc\u30b9\u3067\u00a0<strong><code>-fpermissive<\/code>\u00a0\u304c\u5fc5\u8981<\/strong>\u00a0\u2192\u00a0<code>-DCMAKE_CXX_FLAGS=\"-fpermissive\"<\/code>\u00a0\u3092\u4ed8\u3051\u3001\u53b3\u3057\u3081\u306eC++\u30a8\u30e9\u30fc\u3092\u8b66\u544a\u6271\u3044\u306b\u7de9\u3081\u3066\u30d3\u30eb\u30c9\u3092\u901a\u3059<\/li>\n<\/ul>\n<\/blockquote>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"3_%E3%83%A2%E3%83%87%E3%83%AB%E5%8F%96%E5%BE%97\"><\/span><br>3. \u30e2\u30c7\u30eb\u53d6\u5f97<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<pre class=\"wp-block-code\"><code>python download_from_hf.py   # ONNX policy \/ encoder \/ planner \u3092\u914d\u7f6e<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"4_DDS%E8%A8%AD%E5%AE%9A%EF%BC%88%E2%80%BB%E8%87%AA%E5%88%86%E3%81%8C%E3%83%8F%E3%83%9E%E3%81%A3%E3%81%9F%E3%81%A8%E3%81%93%E3%82%8D%EF%BC%89\"><\/span>4. DDS\u8a2d\u5b9a\uff08\u203b\u81ea\u5206\u304c\u30cf\u30de\u3063\u305f\u3068\u3053\u308d\uff09<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u3053\u306f\u3001\u50d5\u304c\u4e00\u756a\u30cf\u30de\u3063\u305f\u30dd\u30a4\u30f3\u30c8\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u307e\u305a\u524d\u63d0\u3068\u3057\u3066\u3001\u901a\u5e38\u3053\u306e\u8a2d\u5b9a\u306f\u5fc5\u8981\u3042\u308a\u307e\u305b\u3093\u3002<\/strong>&nbsp;NVIDIA \u306e\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u3082\u3001sim\uff08<code>run_sim_loop<\/code>\uff09\u3068&nbsp;<code>deploy<\/code>&nbsp;\u3092\u8d77\u52d5\u3059\u308b\u3060\u3051\u3067\u3001\u4e21\u8005\u306f&nbsp;<strong>CycloneDDS<\/strong>&nbsp;\u3092\u901a\u3058\u3066\u81ea\u52d5\u7684\u306b\u898b\u3064\u3051\u5408\u3046\u3068\u3044\u3046\u3053\u3068\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff08DDS\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306a\u3093\u3066\u767b\u5834\u3057\u307e\u305b\u3093\uff09\u3002DDS\u306f<strong>\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306e\u30de\u30eb\u30c1\u30ad\u30e3\u30b9\u30c8<\/strong>\u3092\u4f7f\u3063\u3066\u3044\u307e\u3059\u304c\u3001\u666e\u901a\u306ePC\u306a\u3089\u305d\u308c\u304c\u554f\u984c\u306a\u304f\u901a\u308b\u304b\u3089\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u3068\u3053\u308d\u304c\u3001\u50d5\u306e\u74b0\u5883\u306f\u5c11\u3057\u7279\u6b8a\u3067\u3057\u305f\u3002<\/strong>&nbsp;\u4f1a\u793e\u306e\u30ea\u30e2\u30fc\u30c8\u30b5\u30fc\u30d0\u30fc\u4e0a\u3067\u4f5c\u696d\u3057\u3066\u3044\u305f\u306e\u3067\u3059\u304c\u3001DDS\u304c\u307e\u3068\u3082\u306b\u4f7f\u3048\u308b\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u304c<strong>\u5b9f\u8cea&nbsp;<code>lo<\/code>\uff08\u30eb\u30fc\u30d7\u30d0\u30c3\u30af\uff09\u3060\u3051<\/strong>\u3001\u3068\u3044\u3046\u72b6\u6cc1\u3067\u3042\u308b\u3053\u3068\u304c\u5224\u660e\u3057\u307e\u3057\u305f\u3002\u3057\u304b\u3057&nbsp;<code>lo<\/code>&nbsp;\u306f\u30de\u30eb\u30c1\u30ad\u30e3\u30b9\u30c8\u975e\u5bfe\u5fdc\u306a\u306e\u3067\u3001sim \u3068&nbsp;<code>deploy<\/code>&nbsp;\u304c<strong>\u4e92\u3044\u3092\u767a\u898b\u3067\u304d\u305a<\/strong>\u3001<code>deploy<\/code>&nbsp;\u304c\u8d77\u52d5\u76f4\u5f8c\u306b&nbsp;<code>Lost LowState<\/code>\uff08\uff1d\u30ed\u30dc\u306e\u72b6\u614b\u304c\u8fd4\u3063\u3066\u3053\u306a\u3044\uff09\u3092\u51fa\u3057\u3066\u5b89\u5168\u505c\u6b62\u3057\u3066\u3057\u307e\u3044\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u540c\u3058\u3088\u3046\u306a\u72b6\u6cc1\u306e\u4eba\u306f\u5c11\u306a\u3044\u3068\u601d\u3044\u307e\u3059\u304c(\u7b11)\u3001\u89e3\u6c7a\u7b56\u3092\u63d0\u793a\u3057\u3066\u304a\u304d\u307e\u3059\u3002<br><strong>\u89e3\u6c7a\u7b56\u306f\u300c\u30de\u30eb\u30c1\u30ad\u30e3\u30b9\u30c8\u3092\u3084\u3081\u3066\u3001localhost \u306e\u30e6\u30cb\u30ad\u30e3\u30b9\u30c8\u3067\u76f4\u63a5\u3064\u306a\u3050\u300d\u3088\u3046CycloneDDS\u306b\u6307\u793a\u3059\u308b\u3053\u3068\u3002<\/strong>&nbsp;\u4e0b\u306eXML\u3092\u7528\u610f\u3057\u3001\u74b0\u5883\u5909\u6570\u3067\u8aad\u307f\u8fbc\u307e\u305b\u307e\u3059\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><strong><br>\u7528\u8a9e\u30df\u30cb\u89e3\u8aac<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u30de\u30eb\u30c1\u30ad\u30e3\u30b9\u30c8<\/strong>\uff1a\u300c\u8ab0\u304b\u3044\u307e\u3059\u304b\u30fc\uff1f\u300d\u3068\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u4e00\u6589\u306b\u547c\u3073\u304b\u3051\u3066\u76f8\u624b\u3092\u63a2\u3059\u65b9\u5f0f\uff081\u5bfe\u591a\uff09\u3002DDS\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u3053\u308c\u3092\u4f7f\u3046<\/li>\n\n\n\n<li><strong>\u30e6\u30cb\u30ad\u30e3\u30b9\u30c8<\/strong>\uff1a\u300c\u3053\u306e\u30a2\u30c9\u30ec\u30b9\u306e\u76f8\u624b\u300d\u30681\u5bfe1\u3067\u76f4\u63a5\u6307\u5b9a\u3057\u3066\u901a\u4fe1\u3059\u308b\u65b9\u5f0f\u3002\u76f8\u624b\u304c\u5206\u304b\u3063\u3066\u3044\u308c\u3070\u78ba\u5b9f<\/li>\n\n\n\n<li><strong>\u30eb\u30fc\u30d7\u30d0\u30c3\u30af\uff08<code>lo<\/code>\u00a0\/\u00a0<code>localhost<\/code>\uff09<\/strong>\uff1a\u81ea\u5206\u81ea\u8eab\u3078\u5411\u304b\u3046\u901a\u4fe1\u8def\u3002\u5916\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u306f\u51fa\u305a\u3001\u540c\u3058\u30de\u30b7\u30f3\u306e\u4e2d\u3060\u3051\u3067\u5b8c\u7d50\u3059\u308b<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u8981\u3059\u308b\u306b\u4eca\u56de\u306f\u300c\u4e00\u6589\u547c\u3073\u304b\u3051\uff08\u30de\u30eb\u30c1\u30ad\u30e3\u30b9\u30c8\uff09\u304c\u4f7f\u3048\u306a\u3044\u74b0\u5883\u306a\u306e\u3067\u3001&#8221;\u76f8\u624b\u306f\u540c\u3058\u30de\u30b7\u30f3\u306e localhost \u306b\u3044\u308b&#8221; \u3068\u76f4\u63a5\u6307\u5b9a\uff08\u30e6\u30cb\u30ad\u30e3\u30b9\u30c8\uff09\u3057\u3001\u901a\u4fe1\u3082\u5916\u306b\u51fa\u3055\u305a\u540c\u30de\u30b7\u30f3\u5185\uff08\u30eb\u30fc\u30d7\u30d0\u30c3\u30af\uff09\u3067\u5b8c\u7d50\u3055\u305b\u308b\u300d\u8a2d\u5b9a\u306b\u3057\u305f\u3001\u3068\u3044\u3046\u308f\u3051\u3067\u3059\u3002<\/p>\n<\/blockquote>\n\n\n\n<pre class=\"wp-block-verse\">\u3053\u3093\u306a\u306e\u306f\u77e5\u3063\u3066\u308b\u4eba\u304c\u307b\u3068\u3093\u3069\u304b\u3082\u77e5\u308c\u307e\u305b\u3093\u304c\u3001\u3001\u3001<br>\u5099\u5fd8\u9332\u7a0b\u5ea6\u306b\u601d\u3063\u3066\u3044\u305f\u3060\u3051\u308b\u3068<\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code>~\/cyclonedds_localhost.xml\n&lt;?xml version=\"1.0\" encoding=\"UTF-8\"?>\n&lt;CycloneDDS xmlns=\"https:\/\/cdds.io\/config\">\n  &lt;Domain id=\"any\">\n    &lt;General>\n      &lt;Interfaces>&lt;NetworkInterface name=\"lo\" presence_required=\"false\"\/>&lt;\/Interfaces>\n      &lt;AllowMulticast>false&lt;\/AllowMulticast>\n    &lt;\/General>\n    &lt;Discovery>\n      &lt;ParticipantIndex>auto&lt;\/ParticipantIndex>\n      &lt;Peers>&lt;Peer address=\"localhost\"\/>&lt;\/Peers>\n    &lt;\/Discovery>\n  &lt;\/Domain>\n&lt;\/CycloneDDS><\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code># \u4e0a\u306eXML\u3092CycloneDDS\u306b\u8aad\u307e\u305b\u308b\uff08\u5f8c\u8ff0\u306e\u8d77\u52d5\u30b9\u30af\u30ea\u30d7\u30c8\u5148\u982d\u306b\u3082\u5165\u308c\u3066\u304a\u304f\u3068\u78ba\u5b9f\uff09 export CYCLONEDDS_URI=\"file:\/\/$HOME\/cyclonedds_localhost.xml\"<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u8a2d\u5b9a\u3092\u884c\u3046\u3053\u3068\u3067\u00a0<code>sim<\/code>\u00a0\u2194\u00a0<code>deploy<\/code>\u00a0\u304c\u30eb\u30fc\u30d7\u30d0\u30c3\u30af\u7d4c\u7531\u3067\u767a\u898b\u30fb\u901a\u4fe1\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u3001<code>Lost LowState<\/code>\u00a0\u554f\u984c\u304c\u89e3\u6c7a\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"5_%E4%B8%80%E6%8B%AC%E8%B5%B7%E5%8B%95%E3%82%B9%E3%82%AF%E3%83%AA%E3%83%97%E3%83%88\"><\/span><br>5. \u4e00\u62ec\u8d77\u52d5\u30b9\u30af\u30ea\u30d7\u30c8<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u30b7\u30b9\u30c6\u30e0\u69cb\u6210\u306e\u300c\u30bd\u30d5\u30c8\u300d\u306e\u6b04\u3092\u307f\u3066\u3044\u305f\u3060\u3051\u305f\u3089\u5206\u304b\u308b\u3068\u601d\u3044\u307e\u3059\u304c\u3001PC\u5074\u3067\u7acb\u3061\u4e0a\u3052\u306a\u3051\u308c\u3070\u3044\u3051\u306a\u3044\u30bd\u30d5\u30c8\u304c\u591a\u304f(deploy,mujoco\u306a\u3069)\u3001\u5168\u3066\u3092\u6bce\u56de\u81ea\u5206\u3067\u7acb\u3061\u4e0a\u3052\u308b\u306e\u306f\u76f8\u5f53\u9762\u5012\u3067\u3059\u3088\u306d\u3002<br>\u3068\u3044\u3046\u3053\u3068\u3067\u30015\u3064\u306e\u30d7\u30ed\u30bb\u30b9\u3092\u9806\u756a\u306b\u7acb\u3061\u4e0a\u3052\u308b\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u4f5c\u3063\u3066\u307f\u307e\u3057\u305f\u3002<br>\u305d\u306e\u4e00\u90e8\u629c\u7c8b\u3092\u4ee5\u4e0b\u306b\u8a18\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><br>\u30b9\u30af\u30ea\u30d7\u30c8\u5185\u3067\u4f7f\u3063\u3066\u3044\u308b\u00a0<code>.venv_teleop<\/code>\u00a0\u306f\u3001<strong>\u30ea\u30dd\u30b8\u30c8\u30ea\u30eb\u30fc\u30c8\u3067\u00a0<code>bash install_scripts\/install_pico.sh<\/code>\u00a0\u3092\u5b9f\u884c\u3059\u308b\u3068\u4f5c\u3089\u308c\u308b<\/strong>\u30c6\u30ec\u30aa\u30da\u7528\u306ePython\u74b0\u5883\uff08\u521d\u56de\u306e\u307f\uff09\u3002MuJoCo\u30fbXRoboToolkit SDK\u30fbUnitree SDK2 \u306a\u3069\u304c\u307e\u3068\u3081\u3066\u5165\u308a\u307e\u3059\u3002\u3053\u308c\u3092\u4f5c\u3063\u3066\u3044\u306a\u3044\u3068\u3001\u4e0b\u306e\u30b9\u30af\u30ea\u30d7\u30c8\u306e\u00a0<code>source .venv_teleop\/bin\/activate<\/code>\u00a0\u3067\u30b3\u30b1\u307e\u3059\u3002<\/p>\n<\/blockquote>\n\n\n\n<pre class=\"wp-block-code\"><code>#!\/bin\/bash\nexport CYCLONEDDS_URI=\"file:\/\/$HOME\/cyclonedds_localhost.xml\"\n\n# \u8d77\u52d5\u6642\u306b\u6b8b\u9ab8\u3092\u6383\u9664\uff08\u30dd\u30fc\u30c8\u885d\u7a81\u9632\u6b62\uff09\npkill -9 -f run_sim_loop; pkill -9 -f g1_deploy_onnx; pkill -9 -f pico_manager; pkill -9 -f socat\nsleep 2\n\n# 1) XRoboToolkit PC Service\ngnome-terminal --title=\"1-service\" -- bash -c \"\/opt\/apps\/roboticsservice\/runService.sh\"\n# 2) socat\uff08PICO\u304b\u3089\u306e\u63a5\u7d9a\u3092\u30ed\u30fc\u30ab\u30eb\u3078\u8ee2\u9001\uff09\ngnome-terminal --title=\"2-socat\"   -- bash -c \"socat TCP-LISTEN:60061,bind=$(tailscale ip -4),fork,reuseaddr TCP:127.0.0.1:60061\"\n# 3) MuJoCo\ngnome-terminal --title=\"3-sim\"     -- bash -c \"source .venv_teleop\/bin\/activate &amp;&amp; python gear_sonic\/scripts\/run_sim_loop.py\"\nsleep 10\n# 4) deploy\uff08GEAR-SONIC\u30dd\u30ea\u30b7\u30fc\uff09\ngnome-terminal --title=\"4-deploy\"  -- bash -c \"cd gear_sonic_deploy &amp;&amp; echo y | .\/deploy.sh --input-type zmq_manager sim\"\nsleep 7\n# 5) PICO streamer\ngnome-terminal --title=\"5-pico\"    -- bash -c \"source .venv_teleop\/bin\/activate &amp;&amp; python gear_sonic\/scripts\/pico_manager_thread_server.py --manager --vis_vr3pt --vis_smpl\"<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u3093\u306a\u611f\u3058\u3067\u3059\u306d\u3002\u81ea\u5206\u3067\u3082\u4f5c\u3063\u3066\u307f\u305f\u304b\u3063\u305f\u3089\u3001\u5143\u306eNVIDIA\u306e\u516c\u5f0f\u30da\u30fc\u30b8\u3068\u3053\u306e\u8a18\u4e8b\u3092AI\u306b\u8aad\u307f\u8fbc\u307e\u305b\u308c\u3070\u4f5c\u308c\u308b\u3068\u601d\u3044\u307e\u3059\u3001\u7b11\u3002<br>\u4e0b\u306e\u753b\u50cf\u306e\u3088\u3046\u306a\u611f\u3058\u3067\u3001\u8907\u6570\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u306e\u7a93\u3068mujoco\u306e\u753b\u9762\u304c\u7acb\u3061\u4e0a\u304c\u308a\u307e\u3059(\u5c11\u3057\u307f\u306b\u304f\u3044\u3067\u3059\u304c)\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"579\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-14-1024x579.png\" alt=\"\" class=\"wp-image-626\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-14-1024x579.png 1024w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-14-300x170.png 300w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-14-768x434.png 768w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-14-564x320.png 564w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-14.png 1400w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"PICO%E6%8E%A5%E7%B6%9A\"><\/span><br>PICO\u63a5\u7d9a<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E4%BA%8B%E5%89%8D%E6%BA%96%E5%82%99%EF%BC%9APICO%E5%81%B4%E3%81%AB%E5%85%A5%E3%82%8C%E3%81%A6%E3%81%8A%E3%81%8F%E3%82%82%E3%81%AE\"><\/span>\u4e8b\u524d\u6e96\u5099\uff1aPICO\u5074\u306b\u5165\u308c\u3066\u304a\u304f\u3082\u306e<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">PC\u5074\u306e\u6e96\u5099\u306f\u3042\u3089\u304b\u305f\u7d42\u308f\u3063\u305f\u306e\u3067\u3001\u6b21\u306fPICO\u5074\u306e\u8a2d\u5b9a\u3067\u3059\u3002<br>\u307e\u305a\u30c6\u30ec\u30aa\u30da\u3092\u59cb\u3081\u308b\u524d\u306b\u3001\u6b21\u306e2\u3064\u306e\u30bd\u30d5\u30c8\u3092\u5165\u308c\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>XRoboToolkit\uff08PICO\u30a2\u30d7\u30ea\uff09<\/strong>\u00a0\u2026 \u982d\u30fb\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fb\u30c8\u30e9\u30c3\u30ab\u30fc\u306e\u52d5\u304d\u3092PC\u3078\u9001\u308b\u30a2\u30d7\u30ea\u3002PICO\u306e\u30d6\u30e9\u30a6\u30b6\u304b\u3089APK\u3092\u843d\u3068\u3057\u3066\u5165\u308c\u307e\u3059\uff08\u8981\u30fb\u30c7\u30d9\u30ed\u30c3\u30d1\u30fc\u30e2\u30fc\u30c9\uff09\u3002\n<ul class=\"wp-block-list\">\n<li>\u5bfe\u306b\u306a\u308b\u5f62\u3067\u3001<strong>\u30b5\u30fc\u30d0\u30fc\u5074\u306b\u306f PC Service\uff08<code>.deb<\/code>\uff09<\/strong>\u00a0\u3092\u5165\u308c\u3066\u8d77\u52d5\u3057\u3066\u304a\u304d\u307e\u3059\u3002\u3053\u308c\u304c\u53d7\u3051\u53e3\u306a\u306e\u3067\u3001\u52d5\u3044\u3066\u3044\u306a\u3044\u3068PICO\u306f\u63a5\u7d9a\u3067\u304d\u307e\u305b\u3093\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>Tailscale<\/strong>\u00a0\u2026 \u4eca\u56de\u306f\u30b5\u30fc\u30d0\u30fc\u304c<strong>\u30ea\u30e2\u30fc\u30c8\uff08\u5225\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\uff09\u306b\u3042\u308b\u305f\u3081\u5fc5\u8981\u3067\u3057\u305f\u3002\u516c\u5f0f\u624b\u9806\u306f\u300cPICO\u3068PC\u3092\u540c\u3058Wi-Fi<\/strong>\u306b\u7e4b\u3044\u3067LAN\u5185\u306eIP\u3092\u5165\u308c\u308b\u300d\u524d\u63d0\u3067\u3059\u304c\u3001\u30ea\u30e2\u30fc\u30c8\u30b5\u30fc\u30d0\u30fc\u3060\u3068\u540c\u3058LAN\u306b\u4e57\u308c\u307e\u305b\u3093\u3002\u305d\u3053\u3067<strong>PICO\u3068\u30b5\u30fc\u30d0\u30fc\u306e\u4e21\u65b9\u3092 Tailscale\uff08\u540c\u3058 tailnet\uff09\u306b\u5165\u308c\u3066<\/strong>\u3001\u4eee\u60f3\u7684\u306b\u540c\u3058\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u6271\u3044\u306b\u3057\u307e\u3059<\/li>\n<\/ul>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><strong>\u30ed\u30fc\u30ab\u30eb\u306b\u30b5\u30fc\u30d0\u30fc\u304c\u3042\u308b\u4eba\u306f Tailscale \u306f\u4e0d\u8981<\/strong>\u3067\u3059\u3002\u50d5\u306f\u9060\u9694\u3067\u30b5\u30fc\u30d0\u30fc\u3068\u7e4b\u3052\u3066\u4f5c\u696d\u3057\u3066\u305f\u306e\u3067\u5fc5\u8981\u3067\u3057\u305f\u3002\u516c\u5f0f\u306e\u624b\u9806\u901a\u308a\u306bPICO\u3068\u30b5\u30fc\u30d0\u30fc\u3092\u540c\u3058Wi-Fi\u306b\u7e4b\u3044\u3067\u3001\u305d\u306eLAN\u5185\u306eIP\u3092\u5165\u308c\u308c\u3070OK\u3067\u3059\u3002<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u5404\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u8a73\u7d30\u624b\u9806\u306f\u516c\u5f0f\u304c\u4e01\u5be7\u3067\u3059:\u00a0<a href=\"https:\/\/nvlabs.github.io\/GR00T-WholeBodyControl\/getting_started\/vr_teleop_setup.html\" target=\"_blank\" rel=\"noreferrer noopener\">VR Teleop Setup (PICO)<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E6%8E%A5%E7%B6%9A%E3%81%A8%E9%80%81%E4%BF%A1%E3%81%AE%E8%A8%AD%E5%AE%9A\"><\/span>\u63a5\u7d9a\u3068\u9001\u4fe1\u306e\u8a2d\u5b9a<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">XRoboToolkit\uff08PICO\u30a2\u30d7\u30ea\uff09\u5074\u306e\u8a2d\u5b9a:<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th class=\"has-text-align-left\" data-align=\"left\">\u8a2d\u5b9a<\/th><th class=\"has-text-align-left\" data-align=\"left\">\u5024<\/th><\/tr><\/thead><tbody><tr><td class=\"has-text-align-left\" data-align=\"left\">head<\/td><td class=\"has-text-align-left\" data-align=\"left\">ON<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">controller<\/td><td class=\"has-text-align-left\" data-align=\"left\">ON<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">hand<\/td><td class=\"has-text-align-left\" data-align=\"left\">OFF<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\"><strong>send<\/strong><\/td><td class=\"has-text-align-left\" data-align=\"left\"><strong>ON<\/strong>\uff08\u3053\u308c\u304c\u30c7\u30fc\u30bf\u9001\u4fe1\u30b9\u30a4\u30c3\u30c1\u3002ON\u3067\u6d41\u308c\u51fa\u3059\uff09<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\"><strong>Pico Motion Tracker<\/strong><\/td><td class=\"has-text-align-left\" data-align=\"left\"><strong>Full body<\/strong>\uff08\u8db3\u9996\u30c8\u30e9\u30c3\u30ab\u30fc\u3067\u5168\u8eab\u3092\u8ffd\u5f93\u3055\u305b\u308b\u30e2\u30fc\u30c9\uff09<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">Remote Vision \/ Data Collection<\/td><td class=\"has-text-align-left\" data-align=\"left\">OFF\uff08\u4eca\u56de\u306f\u4e0d\u8981\uff09<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"614\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-15-1024x614.png\" alt=\"\" class=\"wp-image-627\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-15-1024x614.png 1024w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-15-300x180.png 300w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-15-768x461.png 768w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-15.png 1134w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u8a2d\u5b9a\u753b\u9762\u306f\u3053\u3093\u306a\u611f\u3058\u3067\u3059\u306d\u3002\u3053\u306e\u753b\u50cf\u306e\u72b6\u614b\u3067\u306f\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306f\u7d42\u308f\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u3053\u3053\u304b\u3089\u30e2\u30fc\u30b7\u30e7\u30f3\u30c8\u30e9\u30c3\u30ab\u30fc\u3092\u63a5\u7d9a\u3057\u3066pc\u3068\u7e4b\u3052\u3066\u3044\u304f\u3068\u3044\u3046\u611f\u3058\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%86%E3%83%AC%E3%82%AA%E3%83%9A%E5%AE%9F%E8%A1%8C\"><\/span><br>\u30c6\u30ec\u30aa\u30da\u5b9f\u884c<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li><code>deploy<\/code>\u00a0\u7a93\u3067\u00a0<strong><code>Init Done<\/code><\/strong>\u00a0\u3092\u78ba\u8a8d \u2192 MuJoCo\u4e0a\u3067\u30ed\u30dc\u30c3\u30c8\u304c\u7acb\u3064<\/li>\n\n\n\n<li><strong>MuJoCo\u306e\u7a93\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u00a0<code>9<\/code>\u00a0\u3092\u62bc\u3059 \u2192 \u30ed\u30dc\u30c3\u30c8\u3092\u5730\u9762\u306b\u843d\u3068\u3059<\/strong><\/li>\n\n\n\n<li>\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3067\u00a0<strong><code>A+B+X+Y<\/code><\/strong>\uff08\u8d77\u52d5\uff0b\u521d\u56de\u30d5\u30eb\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\uff09<\/li>\n\n\n\n<li>\u8155\u3092\u30ed\u30dc\u306e\u59ff\u52e2\u306b\u5408\u308f\u305b\u3066\u00a0<strong><code>A+X<\/code><\/strong>\uff08<strong>POSE\u30e2\u30fc\u30c9<\/strong>\uff1d\u5168\u8eab\u8ffd\u5f93\uff09<\/li>\n\n\n\n<li>\u4f53\u3092\u52d5\u304b\u3059 \u2192\u00a0<strong>\u30ed\u30dc\u30c3\u30c8\u304c\u8ffd\u5f93\uff01<\/strong><\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">2\u756a\u3092\u5fd8\u308c\u308b\u3068\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u64cd\u4f5c\u304c\u52b9\u304b\u305a\u66b4\u308c\u51fa\u3057\u307e\u3059\u3001\u3001\u3001\u7b11<br>\uff08MuJoCo\u4e0a\u3067\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u30ed\u30dc\u30c3\u30c8\u304c\u5b99\u306b\u6d6e\u3044\u3066\u304a\u308a\u3001\u305d\u306e\u307e\u307e\u30c6\u30ec\u30aa\u30da\u3059\u308b\u3068\u8e0f\u3093\u5f35\u308c\u305a\u306b\u304a\u304b\u3057\u306a\u6319\u52d5\u306b\u306a\u308a\u307e\u3059\uff09<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E4%B8%BB%E3%81%AA%E3%82%B3%E3%83%B3%E3%83%88%E3%83%AD%E3%83%BC%E3%83%A9%E6%93%8D%E4%BD%9C\"><\/span><br>\u4e3b\u306a\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u64cd\u4f5c<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th class=\"has-text-align-left\" data-align=\"left\">\u52d5\u4f5c<\/th><th class=\"has-text-align-left\" data-align=\"left\">\u30dc\u30bf\u30f3<\/th><\/tr><\/thead><tbody><tr><td class=\"has-text-align-left\" data-align=\"left\">\u8d77\u52d5 \/ \u7dca\u6025\u505c\u6b62<\/td><td class=\"has-text-align-left\" data-align=\"left\"><strong>A+B+X+Y<\/strong><\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">POSE\uff08\u5168\u8eab\u8ffd\u5f93\uff09\u5207\u66ff \/ \u30ea\u30bb\u30c3\u30c8<\/td><td class=\"has-text-align-left\" data-align=\"left\"><strong>A+X<\/strong><\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">VR_3PT\uff08\u4e0a\u534a\u8eab\u306e\u307f\u8ffd\u5f93\u30fb\u811a\u306f\u30d7\u30e9\u30f3\u30ca\u30fc\uff09<\/td><td class=\"has-text-align-left\" data-align=\"left\">\u5de6\u30b9\u30c6\u30a3\u30c3\u30af\u62bc\u3057\u8fbc\u307f<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">\u30cf\u30f3\u30c9\u958b\u9589<\/td><td class=\"has-text-align-left\" data-align=\"left\">\u30c8\u30ea\u30ac\u30fc<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%B5%90%E6%9E%9C\"><\/span><br>\u7d50\u679c<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e0a\u3067\u306eVR\u30c6\u30ec\u30aa\u30da\u3001\u9054\u6210\u3067\u304d\u307e\u3057\u305f\uff01\uff01\uff01<\/strong><br>VR\u30b4\u30fc\u30b0\u30eb\u3092\u88ab\u3063\u3066\u8155\u3092\u4e0a\u3052\u308c\u3070 G1 \u3082\u8155\u3092\u4e0a\u3052\u3001\u4f53\u3092\u637b\u308c\u3070\u8ffd\u5f93\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/qiita-user-contents.imgix.net\/https%3A%2F%2Fqiita-image-store.s3.ap-northeast-1.amazonaws.com%2F0%2F4464953%2F3a3b4d02-3871-413d-ab60-e1055f53dceb.gif?ixlib=rb-4.1.1&amp;auto=format&amp;gif-q=60&amp;q=75&amp;s=f7ca5e759af5c102b46572fd13d80bac\" alt=\"\" style=\"width:559px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u753b\u9762\u5de6\u4e0a\u3092\u898b\u308b\u3068\u3057\u3063\u304b\u308a\u30ed\u30b0\u3082\u53d6\u308c\u3066\u3044\u307e\u3059\u306d\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%BE%E3%81%A8%E3%82%81\"><\/span><br>\u307e\u3068\u3081<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u672c\u8cea\u306f\u300c<code>deploy.sh ... sim<\/code>\u00a0\uff0b PICO \u3092 XRoboToolkit \u3067\u7e4b\u3050\u300d\u3060\u3051<\/strong>\u3002\u3067\u306f\u3042\u308a\u307e\u3059\u304c\u3001 DDS \u8a2d\u5b9a\u30fbIP\u30fb\u30ed\u30dc\u30c3\u30c8\u306e\u63a5\u5730 \u306a\u3069\u30cf\u30de\u308a\u3069\u3053\u308d\u304c\u3044\u3063\u3071\u3044\u3042\u308a\u307e\u3057\u305f\u3002\u3068\u306f\u3044\u3048\u8aac\u660e\u3092\u805e\u304f\u3060\u3051\u3067\u306f\u308f\u304b\u3089\u306a\u3044\u3068\u601d\u3046\u306e\u3067\u3001\u81ea\u5206\u3067\u3084\u308b\u6642\u306f\u3068\u308a\u3042\u3048\u305a\u30cf\u30de\u3063\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u7b11<\/li>\n\n\n\n<li>\u6b21\u56de\u306f<strong>\u5b9f\u6a5f<\/strong>\uff08 Unitree G1 \u672c\u4f53\uff09\u3067\u306e\u30c6\u30ec\u30aa\u30da\u3092\u3084\u308d\u3046\u3068\u601d\u3063\u3066\u3044\u307e\u3059\uff01\u304a\u697d\u3057\u307f\u306b\uff01<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/qiita-user-contents.imgix.net\/https%3A%2F%2Fqiita-image-store.s3.ap-northeast-1.amazonaws.com%2F0%2F4464953%2Fef8b083e-3474-4c29-9470-c54b0b2a359c.gif?ixlib=rb-4.1.1&amp;auto=format&amp;gif-q=60&amp;q=75&amp;s=deea226b6be5ca5735b7e182cf895c37\" alt=\"\" style=\"width:599px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u306f\u4f59\u8ac7\u3067\u3059\u304c\u3001\u59ff\u52e2\u5236\u5fa1\u304c\u52b9\u3044\u3066\u3044\u306a\u304f\u3066\u5012\u308c\u7d9a\u3051\u3066\u3057\u307e\u3046G1\u541b\u3067\u3059<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%8F%82%E8%80%83%E3%83%AA%E3%83%B3%E3%82%AF\"><\/span><br>\u53c2\u8003\u30ea\u30f3\u30af<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/nvlabs.github.io\/GR00T-WholeBodyControl\/\" target=\"_blank\" rel=\"noreferrer noopener\">NVIDIA GR00T-WholeBodyControl \u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/nvlabs.github.io\/GR00T-WholeBodyControl\/tutorials\/vr_wholebody_teleop.html\" target=\"_blank\" rel=\"noreferrer noopener\">VR Whole-body Teleop \u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/github.com\/NVlabs\/GR00T-WholeBodyControl\" target=\"_blank\" rel=\"noreferrer noopener\">GR00T-WholeBodyControl GitHub<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/github.com\/XR-Robotics\/XRoboToolkit-PC-Service\" target=\"_blank\" rel=\"noreferrer noopener\">XRoboToolkit PC Service<\/a><\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"\u203b\u3000\u5f0a\u793e\u30a4\u30f3\u30bf\u30fc\u30f3\u306e\u4f5c\u6210\u8a18\u4e8b\u306b\u306a\u308a\u307e\u3059 \u306f\u3058\u3081\u306b \u3053\u3053\u6700\u8fd1\u3001\u300cPhysical AI\u300d\u3068\u3044\u3046\u8a00\u8449\u3092\u8033\u306b\u3059\u308b\u3053\u3068\u304c\u4e00\u6c17\u306b\u5897\u3048\u307e\u3057\u305f\u306d\u3002\u3053\u308c\u306f\u3001AI\u306e\u77e5\u80fd\u3092\u73fe\u5b9f\u3067\u306e\u884c\u52d5\u306b\u7d50\u3073\u3064\u3051\u308b\u3082\u306e\u3067\u3059\u3002\u30a2\u30e1\u30ea\u30ab\u306e\u5de5\u5834\u306a\u3069\u3067\u306f\u3001\u3059\u3067\u306b\u305f\u304f [&hellip;]","protected":false},"author":1,"featured_media":626,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[32],"tags":[],"class_list":["post-623","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-unitreeg1"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/08\/image-14.png","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/623","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=623"}],"version-history":[{"count":4,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/623\/revisions"}],"predecessor-version":[{"id":636,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/623\/revisions\/636"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/media\/626"}],"wp:attachment":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=623"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=623"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=623"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}