{"id":455,"date":"2025-08-16T17:29:18","date_gmt":"2025-08-16T08:29:18","guid":{"rendered":"https:\/\/momoi.org\/?page_id=455"},"modified":"2025-08-16T18:10:10","modified_gmt":"2025-08-16T09:10:10","slug":"%e3%83%86%e3%83%ac%e3%82%aa%e3%83%9a%e3%83%ac%e3%83%bc%e3%82%b7%e3%83%a7%e3%83%b3%e7%b7%a8","status":"publish","type":"page","link":"https:\/\/momoi.org\/?page_id=455","title":{"rendered":"\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u7de8"},"content":{"rendered":"\n<p>\u524d\u56de\u306e\u300c\u30a2\u30fc\u30e0\u306e\u7d44\u307f\u7acb\u3066\u7de8\u300d\u3067\u306f\u3001LeRobot\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u300cSO-101\u300d\u306e\u7d44\u307f\u7acb\u3066\u3068\u3001\u30e2\u30fc\u30bf\u30fcID\u306e\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p>\u4eca\u56de\u306f\u3001Leader\u30a2\u30fc\u30e0\u3068Follower\u30a2\u30fc\u30e0\u3092\u9023\u52d5\u3055\u305b\u3066\u52d5\u304b\u3059<strong>\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3<\/strong>\u306b\u6311\u6226\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3<\/strong><\/h2>\n\n\n\n<p>\u307e\u305a\u3001\u30a2\u30fc\u30e0\u3092\u52d5\u304b\u3059\u524d\u306b\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u5fc5\u8981\u3067\u3059\u3002\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3068\u306f\u3001\u30a2\u30fc\u30e0\u306e\u30e2\u30fc\u30bf\u30fc\u304c\u305d\u308c\u305e\u308c\u306e\u57fa\u6e96\u4f4d\u7f6e\u3092\u6b63\u78ba\u306b\u8a8d\u8b58\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u4f5c\u696d\u3067\u3059\u3002<\/p>\n\n\n\n<p>1. <strong>\u3059\u3079\u3066\u306e\u30b1\u30fc\u30d6\u30eb\u3092\u63a5\u7d9a\u3059\u308b<\/strong><\/p>\n\n\n\n<p>\u307e\u305a\u3001Leader\u30a2\u30fc\u30e0\u3068Follower\u30a2\u30fc\u30e0\u306e\u3059\u3079\u3066\u306e\u30e2\u30fc\u30bf\u30fc\u30b1\u30fc\u30d6\u30eb\u3092\u30e2\u30fc\u30bf\u30fc\u3068\u57fa\u677f\u306b\u3057\u3063\u304b\u308a\u3068\u63a5\u7d9a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>2. <strong>\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u30b9\u30af\u30ea\u30d7\u30c8\u306e\u5b9f\u884c<\/strong><\/p>\n\n\n\n<p>\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u304d\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p><strong>follower\u306e\u5834\u5408<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>lerobot-calibrate \\\n\n&nbsp; &nbsp; --robot.type=so101_follower \\\n\n&nbsp; &nbsp; --robot.port=\/dev\/ttyACM\u6570\u5b57 \\\n\n&nbsp; &nbsp; --robot.id=follower\u306e\u4efb\u610f\u306e\u540d\u524d<\/code><\/pre>\n\n\n\n<p><strong>leader\u306e\u5834\u5408<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>lerobot-calibrate \\\n\n&nbsp; &nbsp; --teleop.type=so101_leader \\\n\n&nbsp; &nbsp; --teleop.port=\/dev\/ttyACM\u6570\u5b57\n\n&nbsp; &nbsp; --teleop.id=leader\u306e\u4efb\u610f\u306e\u540d\u524d<\/code><\/pre>\n\n\n\n<p>\u305d\u308c\u305e\u308c\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u3059\u3079\u3066\u306e\u95a2\u7bc0\u304c\u7bc4\u56f2\u306e\u771f\u3093\u4e2d\u306b\u3042\u308b\u4f4d\u7f6e\u306b\u30bb\u30c3\u30c8\u3059\u308b\u3088\u3046\u306b\u6307\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3053\u308c\u4ee5\u964d\u306f\u3001\u305d\u308c\u305e\u308c\u306ejoint\u3092\u52d5\u304b\u3057\u3066\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3044\u307e\u3059\u3002\u8a73\u3057\u304f\u306f<a href=\"https:\/\/huggingface.co\/docs\/lerobot\/so101#calibration-video\">\u3053\u3061\u3089\u306e\u52d5\u753b<\/a>\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3<\/h2>\n\n\n\n<p>\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u3044\u3088\u3044\u3088Leader\u30a2\u30fc\u30e0\u3092\u64cd\u4f5c\u3057\u3066Follower\u30a2\u30fc\u30e0\u3092\u52d5\u304b\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u3001\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>lerobot-teleoperate \\\n\n&nbsp; &nbsp; --robot.type=so101_follower \\\n\n&nbsp; &nbsp; --robot.port=\/dev\/ttyACM\u6570\u5b57 \\\n\n&nbsp; &nbsp; --robot.id=\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u306b\u3064\u3051\u305f\u4efb\u610f\u306e\u540d\u524d \\\n\n&nbsp; &nbsp; --teleop.type=so101_leader \\\n\n&nbsp; &nbsp; --teleop.port=\/dev\/ttyACM\u6570\u5b57\\\n\n&nbsp; &nbsp; --teleop.id=\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u306b\u3064\u3051\u305f\u4efb\u610f\u306e\u540d\u524d \\\n\n&nbsp; &nbsp; --display_data=true<\/code><\/pre>\n\n\n\n<p>\u30b3\u30de\u30f3\u30c9\u304c\u5b9f\u884c\u3055\u308c\u308b\u3068\u3001Leader\u30a2\u30fc\u30e0\u306e\u52d5\u304d\u306b\u5408\u308f\u305b\u3066Follower\u30a2\u30fc\u30e0\u304c\u8ffd\u5f93\u3057\u59cb\u3081\u307e\u3059\u3002Leader\u30a2\u30fc\u30e0\u306e\u30b8\u30e7\u30a4\u30f3\u30c8\u3092\u52d5\u304b\u3057\u305f\u308a\u3001\u30b0\u30ea\u30c3\u30d1\u30fc\u3092\u9589\u3058\u305f\u308a\u958b\u3044\u305f\u308a\u3057\u3066\u3001Follower\u30a2\u30fc\u30e0\u304c\u540c\u3058\u3088\u3046\u306b\u52d5\u304f\u304b\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" controls src=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/teleop1.mp4\"><\/video><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" controls src=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/teleop2.mp4\"><\/video><\/figure>\n<\/div>\n<\/div>\n\n\n\n<p><strong>\ud83c\udf89\ud83c\udf89\u3067\u304d\u305f\u30fc\u30fc\u30fc\uff01\uff01\u52d5\u3044\u305f\u30fc\u30fc\u30fc\uff01\uff01\ud83c\udf89\ud83c\udf89<\/strong><\/p>\n\n\n\n<p>\u753b\u9762\u306b\u306f\u3053\u306e\u3088\u3046\u306b\u4ee5\u4e0b\u306e\u753b\u50cf\u306e\u3088\u3046\u306b\u8868\u793a\u3055\u308c\u305d\u308c\u305e\u308c\u306e\u30e2\u30fc\u30bf\u30fc\u306e\u60c5\u5831\u304c\u51fa\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\uff08\u753b\u50cf\u5185\u3067\u306f\u30ab\u30e1\u30e9\u306e\u60c5\u5831\u3082\u8868\u793a\u3057\u3066\u3044\u307e\u3059\u3002\uff09<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"771\" src=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/monitor_info-1024x771.jpg\" alt=\"\" class=\"wp-image-457\" style=\"width:280px;height:auto\" srcset=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/monitor_info-1024x771.jpg 1024w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/monitor_info-300x226.jpg 300w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/monitor_info-768x578.jpg 768w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/monitor_info-1536x1157.jpg 1536w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/monitor_info-2048x1542.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u307e\u3068\u3081<\/h2>\n\n\n\n<p>\u3053\u306e\u8a18\u4e8b\u3067\u306f\u3001\u7d44\u307f\u7acb\u3066\u305fSO-101\u3092\u5b9f\u969b\u306b\u52d5\u304b\u3059\u305f\u3081\u306e\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3068\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u624b\u9806\u3092\u3054\u7d39\u4ecb\u3057\u307e\u3057\u305f\u3002\u30e2\u30fc\u30bf\u30fcID\u306e\u8a2d\u5b9a\u304b\u3089\u59cb\u307e\u308a\u3001\u3053\u306e\u6bb5\u968e\u3067\u3088\u3046\u3084\u304f\u30a2\u30fc\u30e0\u304c\u79c1\u305f\u3061\u306e\u610f\u56f3\u3057\u305f\u901a\u308a\u306b\u52d5\u304f\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p>\u6b21\u56de\u306f\u3044\u3088\u3044\u3088\u3001\u3053\u306e\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u52d5\u304d\u3092\u30c7\u30fc\u30bf\u3068\u3057\u3066\u8a18\u9332\u3057\u3001AI\u306b\u5b66\u7fd2\u3055\u305b\u308b\u30a8\u30d4\u30bd\u30fc\u30c9\u53ce\u96c6\u3001\u3055\u3089\u306b\u306f\u5b66\u7fd2\u307e\u3067\u884c\u3044\u307e\u3059\u3002\u3044\u3088\u3044\u3088AI\u306b\u30a2\u30fc\u30e0\u306e\u52d5\u304b\u3057\u65b9\u3092\u6559\u3048\u308b\u30b9\u30c6\u30c3\u30d7\u306b\u5165\u308a\u307e\u3059\u306e\u3067\u3001\u3069\u3046\u305e\u304a\u697d\u3057\u307f\u306b\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u524d\u56de\u306e\u300c\u30a2\u30fc\u30e0\u306e\u7d44\u307f\u7acb\u3066\u7de8\u300d\u3067\u306f\u3001LeRobot\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u300cSO-101\u300d\u306e\u7d44\u307f\u7acb\u3066\u3068\u3001\u30e2\u30fc\u30bf\u30fcID\u306e\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3057\u307e\u3057\u305f\u3002 \u4eca\u56de\u306f\u3001Leader\u30a2\u30fc\u30e0\u3068Follower\u30a2\u30fc\u30e0\u3092\u9023\u52d5\u3055\u305b\u3066\u52d5 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-455","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/pages\/455","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=455"}],"version-history":[{"count":5,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/pages\/455\/revisions"}],"predecessor-version":[{"id":465,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/pages\/455\/revisions\/465"}],"wp:attachment":[{"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=455"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}