{"id":476,"date":"2025-08-27T17:23:40","date_gmt":"2025-08-27T08:23:40","guid":{"rendered":"https:\/\/momoi.org\/?page_id=476"},"modified":"2025-08-27T17:23:40","modified_gmt":"2025-08-27T08:23:40","slug":"%e5%8f%8c%e8%85%95%e7%b7%a8","status":"publish","type":"page","link":"https:\/\/momoi.org\/?page_id=476","title":{"rendered":"\u53cc\u8155\u7de8"},"content":{"rendered":"\n<p>\u4eca\u56de\u306f\u3001SO-ARM\u30922\u3064\u4f7f\u3063\u3066\u53cc\u8155\u5bfe\u5fdc\u306b\u6311\u6226\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u524d\u56de\u306f\u3001\u5358\u4e00\u306e\u30a2\u30fc\u30e0\u3092\u4f7f\u3063\u305f\u5b66\u7fd2\u306b\u6210\u529f\u3057\u307e\u3057\u305f\u3002\u4eca\u56de\u306f\u3001\u3055\u3089\u306b\u8907\u96d1\u306a\u30bf\u30b9\u30af\u306b\u5bfe\u5fdc\u3059\u308b\u305f\u3081\u3001\u53cc\u8155\u306e\u5236\u5fa1\u306b\u6311\u6226\u3057\u3066\u3044\u304d\u307e\u3059\uff01<br>\u53cc\u8155\u30ed\u30dc\u30c3\u30c8\u306f\u3001\u5358\u8155\u3067\u306f\u96e3\u3057\u3044\u3088\u3046\u306a\u3001\u7269\u4f53\u306e\u5171\u540c\u628a\u6301\u3084\u3001\u7247\u65b9\u306e\u30a2\u30fc\u30e0\u3067\u7269\u3092\u56fa\u5b9a\u3057\u3001\u3082\u3046\u7247\u65b9\u3067\u4f5c\u696d\u3092\u884c\u3046\u3068\u3044\u3063\u305f\u8907\u96d1\u306a\u52d5\u4f5c\u3092\u5b9f\u884c\u3067\u304d\u3001\u3088\u308a\u4eba\u9593\u306b\u8fd1\u3044\u30bf\u30b9\u30af\u304c\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u53cc\u8155\u306eteleop<\/strong><\/h2>\n\n\n\n<p>\u307e\u305a\u30012\u3064\u306eSO-101\u3092\u540c\u6642\u306b\u5236\u5fa1\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002\u6d3b\u52d5\u5f53\u6642\u3001LeRobot\u516c\u5f0f\u304b\u3089\u53cc\u8155\u7528\u306e\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u306a\u304b\u3063\u305f\u305f\u3081\u3001\u81ea\u529b\u3067\u306e\u30b3\u30fc\u30c7\u30a3\u30f3\u30b0\u304c\u5fc5\u8981\u3067\u3057\u305f\u304c\u3001\u5e78\u3044\u306b\u3082<a href=\"https:\/\/x.com\/LeRobotHF\/status\/1945818023291482563\">\u516c\u5f0f\u30da\u30fc\u30b8<\/a>\u304b\u3089\u516c\u958b\u3055\u308c\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u4eca\u56de\u306f\u3001\u3053\u306e\u516c\u5f0f\u306e\u30b3\u30fc\u30c9\u3092\u4f7f\u7528\u3057\u3066teleop\u3057\u3066\u3044\u304d\u307e\u3059<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. <strong>\u74b0\u5883\u306e\u6e96\u5099<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>SO-101 Follower \u00d7 2<\/li>\n\n\n\n<li>SO-101 Leader \u00d7 2<\/li>\n<\/ul>\n\n\n\n<p>&nbsp; &nbsp; \u305d\u308c\u305e\u308c\u3092PC\u306b\u63a5\u7d9a\u3057\u307e\u3059\u3002USB\u30dd\u30fc\u30c8\u306e\u7ba1\u7406\u304c\u5358\u8155\u3088\u308a\u8907\u96d1\u306b\u306a\u308b\u306e\u3067\u3001`lerobot-find-port`\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u7528\u3057\u3066\u3088\u304f\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. <strong>\u30b3\u30de\u30f3\u30c9\u306e\u5b9f\u884c<\/strong><\/h3>\n\n\n\n<p>\u305d\u308c\u305e\u308c\u306eUSB\u30dd\u30fc\u30c8\u3092\u78ba\u8a8d\u3057\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>lerobot-teleoperate \\\n      --robot.type=bi_so100_follower \\\n      --robot.left_arm_port=\u5de6follower\u306e\u30dd\u30fc\u30c8 \\\n      --robot.right_arm_port=\u53f3follower\u306e\u30dd\u30fc\u30c8 \\\n      --robot.id=\u4efb\u610f\u306efollower\u306eid \\\n      --teleop.type=bi_so100_leader \\\n      --teleop.left_arm_port=\u5de6leader\u306e\u30dd\u30fc\u30c8 \\\n      --teleop.right_arm_port=\u53f3leader\u306e\u30dd\u30fc\u30c8 \\\n      --teleop.id=\u4efb\u610f\u306eleader\u306eid \\\n      --display_data=true<\/code><\/pre>\n\n\n\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\/teleop.mp4\"><\/video><\/figure>\n\n\n\n<p>\u53cc\u8155\u304c\u540c\u6642\u306b\u52d5\u3044\u305f\u77ac\u9593\u306f\u611f\u52d5\uff01\ud83e\uddbe<br>\u3084\u3063\u3071\u308a\u53cc\u8155\u306f\u30ab\u30c3\u30b3\u3044\u3044\u3067\u3059\u306d\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u30a8\u30d4\u30bd\u30fc\u30c9\u306e\u8a18\u9332<\/strong><\/h2>\n\n\n\n<p>\u6b21\u306b\u3001\u8a66\u3057\u306b\u30a8\u30d4\u30bd\u30fc\u30c9\u3092\u8a18\u9332\u3057\u3066\u307f\u307e\u3059\u3002\u53cc\u8155\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u304d\u3092\u5b66\u7fd2\u3055\u305b\u308b\u306b\u306f\u3001\u304a\u624b\u672c\u3068\u306a\u308b\u52d5\u4f5c\u30c7\u30fc\u30bf\u3092\u8a18\u9332\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u4eca\u56de\u306f\u30012\u3064\u306e\u30ea\u30fc\u30c0\u30fc\u30a2\u30fc\u30e0\u3092\u4f7f\u3063\u30662\u3064\u306e\u30d5\u30a9\u30ed\u30ef\u30fc\u30a2\u30fc\u30e0\u3092\u540c\u6642\u306b\u52d5\u304b\u3057\u3001\u30ab\u30e1\u30e9\u6620\u50cf\u3068\u30a2\u30fc\u30e0\u306e\u95a2\u7bc0\u89d2\u5ea6\u3092\u30bb\u30c3\u30c8\u3067\u8a18\u9332\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. <strong>\u8a18\u9332\u74b0\u5883\u306e\u6e96\u5099<\/strong><br>   &#8211; <strong>\u30ab\u30e1\u30e9<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>top\uff1a\u30a2\u30fc\u30e0\u5168\u4f53\u3092\u4e0a\u304b\u3089\u6349\u3048\u30012\u3064\u306e\u30a2\u30fc\u30e0\u3068\u30d6\u30ed\u30c3\u30af\u306e\u4f4d\u7f6e\u95a2\u4fc2\u3092\u628a\u63e1<\/li>\n\n\n\n<li>left\u30fbright\uff1a\u305d\u308c\u305e\u308c\u306e\u30a2\u30fc\u30e0\u306e\u30b0\u30ea\u30c3\u30d1\u30fc\u306e\u72b6\u6cc1\u3092\u628a\u63e1<\/li>\n\n\n\n<li>`lerobot-find-cameras opencv`\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u3063\u3066\u3001\u305d\u308c\u305e\u308c\u306e\u30ab\u30e1\u30e9\u306e\u30d1\u30b9\uff08`\/dev\/video0\u306a\u3069`\uff09\u3092\u78ba\u8a8d\u3057\u307e\u3059<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">   &#8211; <strong>\u30bf\u30b9\u30af<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>2\u672c\u306e\u30da\u30f3\u3092\u540c\u6642\u306b\u6301\u3061\u4e0a\u3052\u3066\u3001\u30b3\u30c3\u30d7\u306e\u4e2d\u306b\u5165\u308c\u308b<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">2. <strong>\u8a18\u9332\u958b\u59cb<\/strong><\/h3>\n\n\n\n<p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u3001\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u3068\u540c\u6642\u306b\u30c7\u30fc\u30bf\u306e\u8a18\u9332\u3092\u958b\u59cb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>lerobot-teleoperate \\\n      --robot.type=bi_so100_follower \\\n      --robot.left_arm_port=\u5de6follower\u306e\u30dd\u30fc\u30c8 \\\n      --robot.right_arm_port=\u53f3follower\u306e\u30dd\u30fc\u30c8 \\\n      --robot.id=\u4efb\u610f\u306efollower\u306eid \\\n      --robot.cameras='{\n      left: {\"type\": \"opencv\", \"index_or_path\":\u5de6\u8155\u7528\u30ab\u30e1\u30e9\u306e\u30d1\u30b9, \"width\": 640, \"height\": 480, \"fps\": 30},\n      top: {\"type\": \"opencv\", \"index_or_path\": \u4e0a\u304b\u3089\u306e\u30ab\u30e1\u30e9\u306e\u30d1\u30b9, \"width\": 640, \"height\": 480, \"fps\": 30},\n      right: {\"type\": \"opencv\", \"index_or_path\": \u53f3\u8155\u7528\u30ab\u30e1\u30e9\u306e\u30d1\u30b9, \"width\": 640, \"height\": 480, \"fps\": 30}\n      }' \\\n      --teleop.type=bi_so100_leader \\\n      --teleop.left_arm_port=\u5de6leader\u306e\u30dd\u30fc\u30c8 \\\n      --teleop.right_arm_port=\u53f3leader\u306e\u30dd\u30fc\u30c8 \\\n      --teleop.id=\u4efb\u610f\u306eleader\u306eid \\\n      --display_data=true\n      --dataset.repo_id=${HF_USER}\/bi_so100_test \\\n      --dataset.num_episodes=5 \\\n      --dataset.single_task=\"pen pick and place\"<\/code><\/pre>\n\n\n\n<p>\u5b9f\u884c\u3059\u308b\u3068\u3001\u6620\u50cf\u3068\u95a2\u7bc0\u89d2\u5ea6\u304c\u8a18\u9332\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/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\/viewer-1-1024x771.jpg\" alt=\"\" class=\"wp-image-486\" style=\"width:425px;height:auto\" srcset=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/viewer-1-1024x771.jpg 1024w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/viewer-1-300x226.jpg 300w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/viewer-1-768x578.jpg 768w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/viewer-1-1536x1157.jpg 1536w, https:\/\/momoi.org\/wp-content\/uploads\/2025\/08\/viewer-1-2048x1542.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u30a8\u30d4\u30bd\u30fc\u30c9\u306e\u518d\u751f<\/strong><\/h2>\n\n\n\n<p>\u8a18\u9332\u3057\u305f\u30a8\u30d4\u30bd\u30fc\u30c9\u304c\u6b63\u3057\u304f\u4fdd\u5b58\u3055\u308c\u3066\u3044\u308b\u304b\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u30c7\u30fc\u30bf\u304c\u7834\u640d\u3057\u3066\u3044\u306a\u3044\u304b\u3001\u307e\u305f\u8a18\u9332\u3055\u308c\u305f\u52d5\u4f5c\u304c\u610f\u56f3\u3057\u305f\u901a\u308a\u306b\u884c\u308f\u308c\u3066\u3044\u308b\u304b\u3092\u30c1\u30a7\u30c3\u30af\u3067\u304d\u307e\u3059\u3002<br><br>\u5148\u307b\u3069\u8a18\u9332\u3057\u305f\u3082\u306e\u3092\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u518d\u751f\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>lerobot-replay \\\n  --robot.type=bi_so100_follower \\\n  --robot.left_arm_port=\u5de6follower\u306e\u30dd\u30fc\u30c8 \\\n  --robot.right_arm_port=\u53f3follower\u306e\u30dd\u30fc\u30c8 \\\n  --robot.id=\u4efb\u610f\u306efollower\u306eid \\\n  --dataset.repo_id=${HF_USER}\/bi_so100_test \\\n  --dataset.episode=0<\/code><\/pre>\n\n\n\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\/replay1-3.mp4\"><\/video><\/figure>\n\n\n\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\/replay2-3.mp4\"><\/video><\/figure>\n\n\n\n<p>\u554f\u984c\u306a\u304f\u518d\u751f\u3067\u304d\u307e\u3057\u305f\uff01<br>\u3053\u308c\u3067\u5b66\u7fd2\u7528\u30c7\u30fc\u30bf\u304c\u6e96\u5099\u3067\u304d\u305f\u3053\u3068\u3092\u78ba\u8a8d\u3067\u304d\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u53cc\u8155SO-101\u306e\u8ab2\u984c<\/strong><\/h2>\n\n\n\n<p>\u5b66\u7fd2\u306b\u5411\u3051\u305f\u30c7\u30fc\u30bf\u53ce\u96c6\u3092\u884c\u3044\u307e\u3057\u305f\u304c\u3001\u4f7f\u3063\u3066\u307f\u308b\u3068\u3044\u304f\u3064\u304b\u8ab2\u984c\u304c\u898b\u3048\u3066\u304d\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. <strong>5DOF Manipulator\u306e\u5236\u7d04<\/strong><\/h3>\n\n\n\n<p>SO-101\u306f5DOF Manipulator + 1DOF Gripper\u3068\u3044\u3046\u69cb\u9020\u3067\u3059\u3002<br>\u3057\u304b\u3057\u30015\u81ea\u7531\u5ea6\u3067\u306f\u5fae\u5999\u306b\u8db3\u308a\u305a\u3001\u601d\u3046\u3088\u3046\u306b\u52d5\u304b\u305b\u306a\u3044\u30b7\u30fc\u30f3\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u3002<br>\u305f\u3068\u3048\u3070\u3001\u30cf\u30f3\u30ab\u30c1\u3092\u6298\u308a\u7573\u3080\u30bf\u30b9\u30af\u3067\u306f\u304b\u306a\u308a\u82e6\u6226\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\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\/task_take1-1.mp4\"><\/video><\/figure>\n\n\n\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\/task_take2-1.mp4\"><\/video><\/figure>\n\n\n\n<p>\u3080\u3001\u96e3\u3057\u3044&#8230;\ud83d\ude22<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. <strong>\u5de6\u53f3\u540c\u5f62\u72b6\u306b\u3088\u308b\u4f7f\u3044\u306b\u304f\u3055<\/strong><\/h3>\n\n\n\n<p>\u4eca\u56de\u306f\u540c\u30583D\u30e2\u30c7\u30eb\u3067\u4e21\u8155\u3092\u69cb\u7bc9\u3057\u305f\u305f\u3081\u3001\u5de6\u53f3\u3069\u3061\u3089\u3082\u300c\u53f3\u8155\u7528\u300d\u306e\u3088\u3046\u306a\u5f62\u72b6\u3067\u3059\u3002<br> \u305d\u306e\u305f\u3081\u3001\u5de6\u8155\u3067\u306e\u30b0\u30ea\u30c3\u30d1\u64cd\u4f5c\u304c\u5c11\u3057\u3057\u3065\u3089\u304b\u3063\u305f\u308a\u3001\u30b9\u30c8\u30c3\u30d1\u30fc\u304c\u5e72\u6e09\u3059\u308b\u554f\u984c\u304c\u51fa\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<h2 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