{"id":232,"date":"2024-09-01T16:36:57","date_gmt":"2024-09-01T07:36:57","guid":{"rendered":"https:\/\/momoi.org\/?post_type=yada_wiki&#038;p=232"},"modified":"2025-10-03T14:23:23","modified_gmt":"2025-10-03T05:23:23","slug":"limedemo","status":"publish","type":"yada_wiki","link":"https:\/\/momoi.org\/?yada_wiki=limedemo","title":{"rendered":"LimeDemo"},"content":{"rendered":"<p>\u30b5\u30f3\u30d7\u30eb\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u3001Lime\u306e\u7279\u6027\u3092\u751f\u304b\u3059\u3053\u3068\u3092\u76ee\u7684\u3068\u3057\u3066\u3001\u30d4\u30c3\u30af&amp;\u30d7\u30ec\u30fc\u30b9\u3092\u3068\u308a\u3042\u3052\u3001\u57fa\u672c\u7684\u306a\u3082\u306e\u304b\u3089\u9806\u6b21\u62e1\u5f35\u3092\u8a66\u307f\u307e\u3059\u3002\u6700\u521d\u306b\u3001\u30b3\u30fc\u30e9\u7f36\u306b\u9650\u5b9a\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u4f5c\u308a\u307e\u3059\u3002\u305d\u3053\u3067\u306f\u3001<\/p>\n<ul>\n<li>\u5730\u56f3\u60c5\u5831\u306b\u3088\u308b\u9818\u57df\u306e\u5f62\u72b6\u3092\u8003\u616e\u3057\u3001\u9069\u5207\u306a\u63a2\u7d22\u5834\u6240\u3092\u81ea\u52d5\u7684\u306b\u6c7a\u5b9a\u3057\u307e\u3059<\/li>\n<li>RealSense\u753b\u50cf\u3092\u7528\u3044\u3066\u3001\u30b3\u30fc\u30e9\u7f36\u3092\u63a2\u7d22\u3057\u307e\u3059\u3002\u6df1\u5c64\u5b66\u7fd2\u306b\u3088\u308b\u753b\u50cf\u51e6\u7406\u306f\u7528\u3044\u305a\u3001OpenCV\u3092\u7528\u3044\u3066\u691c\u51fa\u3001\u5ea7\u6a19\u8a08\u6e2c\u3092\u884c\u3044\u307e\u3059<\/li>\n<li>Nav2\u306b\u3088\u308b\u901a\u5e38\u306e\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u306b\u3088\u308a\u30b3\u30fc\u30e9\u7f36\u306b\u63a5\u8fd1\u3057\u305f\u5f8c\u3001\u30d3\u30b8\u30e5\u30a2\u30eb\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3067\u30b3\u30fc\u30e9\u7f36\u306e\u4f4d\u7f6e\u3092\u6b63\u78ba\u306b\u8a08\u6e2c\u3057\u306a\u304c\u3089\u3001\u628a\u6301\u4f4d\u7f6e\u307e\u3067\u79fb\u52d5\u3057\u307e\u3059<\/li>\n<li>\u628a\u6301\u4f4d\u7f6e\u3067\u30a2\u30fc\u30e0\u3092\u628a\u6301\u4f4d\u7f6e\u306b\u79fb\u52d5\u3057\u305f\u5f8c\u3001\u30b3\u30fc\u30e9\u7f36\u306b\u6b63\u5bfe\u3057\u306a\u304c\u3089\u3055\u3089\u306b\u6570\u30bb\u30f3\u30c1\u7a0b\u5ea6\u63a5\u8fd1\u3057\u3001\u628a\u6301\u3057\u307e\u3059<\/li>\n<\/ul>\n<p>\u3092\u5b9f\u73fe\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<h2>\u3007\u3000\u524d\u63d0<\/h2>\n<p>Lime\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u306f\u3001\u5b9f\u6a5f\u3001\u304a\u3088\u3073\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u3088\u308bLime\u52d5\u4f5c\u3092\u5bfe\u8c61\u3068\u3057\u3066\u3044\u307e\u3059\u3002\u305d\u306e\u6700\u521d\u306e\u7248\u304cGitHub\u306b\u3042\u308b\u3001<a href=\"https:\/\/github.com\/momoiorg-repository\/LimeDemo\">LimeDemo<\/a>\u3068<a href=\"https:\/\/github.com\/momoiorg-repository\/LimeSimulDemo\">LimeSimulDemo<\/a>\u3067\u3059\u3002(\u5b9f\u6a5f\u7528\u306eLimeDemo\u3082\u516c\u958b\u4e88\u5b9a\uff09<\/p>\n<p>\u3053\u308c\u306f\u3001\u3042\u308b\u7a0b\u5ea6\u306e\u898f\u6a21\u306ePC\u3092\u4f7f\u7528\u3057\u307e\u3059\u300232GB\u7a0b\u5ea6\u306e\u30e1\u30e2\u30ea\u3092\u6301\u3064\u3053\u3068\u304c\u306e\u305e\u307e\u3057\u304f\u3001Linux\u3001\u3042\u308b\u3044\u306f\u3001Windows 10,11 OS(Docker Desktop\u4f7f\u7528\uff09\u3067\u52d5\u4f5c\u3057\u307e\u3059\u3002LimeSimulDemo\u306f\u3001PC\u5358\u4f53\u3067\u52d5\u4f5c\u3057\u307e\u3059\u3002LimeDemo\u306f\u3001\u3055\u3089\u306b\u3001Lime\u672c\u4f53\u3092\u5fc5\u8981\u3068\u3057\u307e\u3059\u3002\u305d\u306e\u5834\u5408\u3001\u4e21\u8005\u306f\u3001WiFi\u3067\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u60f3\u5b9a\u3057\u307e\u3059\u3002<\/p>\n<p>\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u306f\u3001\u3042\u308b\u7a0b\u5ea6\u306eROS\u306e\u77e5\u8b58\u304c\u5fc5\u8981\u3067\u3059\u3002\u3053\u3053\u3067\u306f\u3001\u904e\u53bb\u306bTurtleBot3\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7b49\u3092\u884c\u3063\u305f\u3053\u3068\u304c\u3042\u308b\u3082\u306e\u3068\u60f3\u5b9a\u3057\u307e\u3059\u3002<\/p>\n<h2>\u3007\u3000\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7248\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/h2>\n<p>\u4ee5\u4e0b\u3067\u306f\u3001Windows\u3092\u7528\u3044\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\u4f8b\u3092\u793a\u3057\u307e\u3059\u3002\u307e\u305a\u3001WSL\u3001Docker Desktop\u3001Visual Studio\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n<p>\u6b21\u306b\u3001\u4f5c\u696d\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n<pre>$ mkdir lime\r\n$ cd lime<\/pre>\n<p>Git\u3092\u7528\u3044\u3066\u3001\u30b3\u30fc\u30c9\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n<pre>$ git clone https:\/\/github.com\/momoiorg-repository\/LimeSimulDemo.git<\/pre>\n<p>docker\u306e\u30d3\u30eb\u30c9\u3092\u3057\u3066\u3001docker\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/p>\n<pre>$ cd LimeSimulDemo\r\n$ docker compose build<\/pre>\n<p>\u5b8c\u4e86\u3057\u305f\u3089\u3001docker\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002\u30b7\u30a7\u30eb\u7aef\u672b\u306eX\u30a6\u30a3\u30f3\u30c9\u30a6\u304c\u8868\u793a\u3055\u308c\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n<pre>$ docker compose up<\/pre>\n<p>\u6b21\u306b\u3001\u5b9f\u884c\u74b0\u5883\u3078\u306e\u3001\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u767b\u9332\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<pre># cd pytwb\r\n# pytwb\r\ncreate cm1\r\nY<\/pre>\n<p>\u3053\u308c\u3067\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u958b\u59cb\u3059\u308b\u6e96\u5099\u304c\u6574\u3044\u307e\u3057\u305f\u3002<\/p>\n<h2>\u3007\u3000\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c<\/h2>\n<p>\u7d9a\u3044\u3066\u3001X\u7aef\u672b\u304b\u3089\u3001<\/p>\n<pre># run_all<\/pre>\n<p>\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001Gazebo\u306b\u3088\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u753b\u9762\u304c\u73fe\u308c\u308b\u306f\u305a\u3067\u3059\u3002\u521d\u671f\u306b\u306f\u4f55\u5ea6\u304b\u5931\u6557\u3059\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u7e70\u308a\u8fd4\u3057\u884c\u3063\u3066\u3044\u308b\u3068\u6210\u529f\u3057\u307e\u3059\u3002<\/p>\n<p>Gazebo\u306e\u30a6\u30a7\u30a4\u30f3\u30c9\u30a6\u306b\u7d9a\u3044\u3066\u3001Rviz\u306e\u753b\u9762\u304c\uff12\u3064\u73fe\u308c\u307e\u3059\u3002\u4e00\u65b9\u304c\u3001\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u7528\u3001\u3082\u3046\u4e00\u65b9\u304c\u30a2\u30fc\u30e0\u5236\u5fa1\u7528\u3067\u3059\u3002\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u7528\u306e\u753b\u9762\u304b\u3089\u3001\u521d\u671f\u59ff\u52e2\u3092\u6307\u5b9a\u3057\u307e\u3059\u3002\u3053\u308c\u3067\u3001\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u30d7\u30ed\u30b0\u30e9\u30e0\u5b9f\u884c\u306e\u6e96\u5099\u304c\u6574\u3044\u307e\u3057\u305f\u3002<\/p>\n<h2>\u3007\u3000\u30b3\u30fc\u30e9\u7f36\u306e\u914d\u7f6e<\/h2>\n<p>Gazebo\u4e2d\u306b\u8868\u793a\u3055\u308c\u305fworld\u306b\u30b3\u30fc\u30e9\u7f36\u3092\u914d\u7f6e\u3057\u307e\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u306e\u5b9a\u7fa9\u3067\u306f\u3001\u91cd\u3044\u30b3\u30fc\u30e9\u7f36\u306f\u6301\u3061\u4e0a\u3052\u3089\u308c\u306a\u3044\u306e\u3067\u3001\u5f93\u91cf\u8a2d\u5b9a\u3092\u5909\u3048\u307e\u3059\u3002Inset\u30bf\u30d6\u306e\u30d7\u30eb\u30c0\u30a6\u30f3\u304b\u3089coke_can\u3092\u9078\u629e\u3057\u3066\u3001\u4e00\u65e6\u4efb\u610f\u306e\u5834\u6240\u306b\u914d\u7f6e\u3057\u307e\u3059\u3002\u3053\u308c\u3092\u53f3\u30af\u30ea\u30c3\u30af\u3067\u9078\u629e\u3057\u3066\u3001Edit mode\u3092\u958b\u304d\u307e\u3059\u3002\u518d\u5ea6\u5de6\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af\u3067\u30b3\u30fc\u30e9\u7f36\u3092\u9078\u629e\u3059\u308b\u3068\u3001\u5f93\u91cf\u8a2d\u5b9aMass\u306e\u30d5\u30a3\u30fc\u30eb\u30c9\u304c\u8868\u793a\u3055\u308c\u308b\u306e\u3067\u3001\u73fe\u5728\u306e0.39kg\u3092\u30010.039kg\u306b\u5909\u3048\u307e\u3059\u3002cntl-x\u3067\u629c\u3051\u3066\u3001\u4fdd\u5b58\u540d\u3092\u3057\u3066\u7d42\u4e86\u3067\u3059\u3002<\/p>\n<p>\u3053\u3053\u3067\u3001\u4e00\u65e6run_all\u3092cntl-c\u3067\u7d42\u4e86\u3057\u3001run_all\u3092\u518d\u5b9f\u884c\u3057\u307e\u3059\u3002\u3053\u306e\u3088\u3046\u306b\u5b9a\u7fa9\u3057\u305f\u30b3\u30fc\u30e9\u7f36\u3092\u3001world\u5185\u306e\u3069\u3053\u304b\u306b\u914d\u7f6e\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<h2>\u3007\u3000\u30b5\u30f3\u30d7\u30eb\u30a2\u30d7\u30ea\u306e\u5b9f\u884c<\/h2>\n<p>docker\u5185\u3067\u3001\u30b5\u30f3\u30d7\u30eb\u30a2\u30d7\u30ea\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002\u76f4\u63a5\u5b9f\u884c\u3082\u3067\u304d\u307e\u3059\u3057\u3001Visual Studio\u3092\u30a2\u30bf\u30c3\u30c1\u3057\u3066\u884c\u3046\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u958b\u767a\u3059\u308b\u969b\u306b\u306f\u3001Visual Studio\u304b\u3089\u884c\u3046\u306e\u304c\u697d\u3067\u3059\u3002\u3044\u305a\u308c\u306e\u5834\u5408\u3067\u3082\u3001~\/pytwb_ws\/src\/cm1\/__main__.py\u3092Python\u3067\u5b9f\u884c\u3059\u308c\u3070\u3001\u30a2\u30d7\u30ea\u304c\u8d77\u52d5\u3057\u3001\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u2019$\u2019\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n<p>\u3053\u3053\u3067\u3001actor\u3084Behavior Tree\u306e\u540d\u524d\u3092\u6307\u5b9a\u3059\u308b\u3068\u305d\u308c\u3089\u304c\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002\u305f\u3068\u3048\u3070\u3001bt_pick\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u30b3\u30fc\u30e9\u7f36\u306e\u63a2\u7d22\u3068\u30d4\u30c3\u30ad\u30f3\u30b0\u306e\u5b9f\u884c\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002\u3053\u306e\u3068\u304d\u3001\u5225\u30a6\u30a3\u30f3\u30c9\u30a6\u304b\u3089cokeview\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u30d4\u30c3\u30ad\u30f3\u30b0\u306e\u72b6\u6cc1\u304c\u3088\u304f\u898b\u3048\u307e\u3059\u3002<\/p>\n<p>\u305d\u306e\u4ed6\u306eBehavior Tree\u306f\u3001~\/pytwb_ws\/src\/cm1\/cm1\/trees\u306e\u4e0b\u306b\u3042\u308a\u307e\u3059\u3002\u305f\u3068\u3048\u3070bt_pick\u306f\u3001\u30d4\u30c3\u30af\uff06\u30d7\u30ec\u30fc\u30b9\u306e\u5168\u5de5\u7a0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002\u305d\u306e\u8981\u7d20\u3068\u3057\u3066\u3001<\/p>\n<pre>bt_search, bt_find: \u30b3\u30fc\u30e9\u7f36\u306e\u63a2\u7d22\r\nbt_catch: \u30b3\u30fc\u30e9\u7f36\u306e\u30d4\u30c3\u30ad\u30f3\u30b0<\/pre>\n<p>\u304c\u3042\u308a\u3001\u305d\u308c\u305e\u308c\u72ec\u7acb\u306b\u5b9f\u884c\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<h2>\u3007\u3000bt_search\u6982\u8981<\/h2>\n<p>bt_search\u306f\u3001world(\u74b0\u5883\uff09\u4e2d\u306e\u4efb\u610f\u306e<img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-288 alignleft\" src=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-10_35_48-300x226.png\" alt=\"\" width=\"300\" height=\"226\" srcset=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-10_35_48-300x226.png 300w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-10_35_48-1024x771.png 1024w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-10_35_48-768x578.png 768w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-10_35_48-1536x1157.png 1536w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-10_35_48-2048x1542.png 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/>\u5834\u6240\u306b\u304a\u304b\u308c\u305f\u30b3\u30fc\u30e9\u7f36\u3092\u63a2\u7d22\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u3059\u3002\u5b9f\u884c\u524d\u306b\u30b3\u30fc\u30e9\u7f36\u3092\u7f6e\u3044\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u72b6\u614b\u3067\u3001\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u304b\u3089bt_search\u3092\u5165\u529b\u3059\u308b\u3068\u3001\u30ed\u30dc\u30c3\u30c8\u306fworld\u4e2d\u3092\u52d5\u304d\u56de\u3063\u3066\u30ab\u30e1\u30e9\u3092\u7528\u3044\u3066\u30b3\u30fc\u30e9\u7f36\u3092\u63a2\u7d22\u3057\u307e\u3059\u3002\u30b3\u30fc\u30e9\u7f36\u3092\u767a\u898b\u3059\u308b\u3068\u3001\u30d4\u30c3\u30ad\u30f3\u30b0\u52d5\u4f5c\u304c\u53ef\u80fd\u306a\u4f4d\u7f6e\u307e\u3067\u79fb\u52d5\u3057\u3066\u505c\u6b62\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h2>\u3007\u3000bt_catch\u6982\u8981<\/h2>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-291 alignleft\" src=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-11_49_57-300x207.png\" alt=\"\" width=\"300\" height=\"207\" srcset=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-11_49_57-300x207.png 300w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-11_49_57-1024x707.png 1024w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-11_49_57-768x530.png 768w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-11_49_57-1536x1060.png 1536w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/10\/Gazebo@docker-desktop-2024_10_04-11_49_57-2048x1413.png 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>bt_catch\u306f\u3001\u30b3\u30fc\u30e9\u7f36\u306e\u30d4\u30c3\u30ad\u30f3\u30b0\u3092\u884c\u3046\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u3059\u3002\u8d77\u52d5\u6642\u306b\u3001\u8996\u91ce\u306b\u30b3\u30fc\u30e9\u7f36\u304c\u3042\u308b\u3053\u3068\u304c\u524d\u63d0\u3067\u3059\u3002\u306a\u308b\u3079\u304f\u6b63\u9762\u306b\u3042\u308b\u3053\u3068\u304c\u671b\u307e\u3057\u3044\u3067\u3059\u3002\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u304b\u3089bt_catch\u3092\u5165\u529b\u3059\u308b\u3068\u3001\u524d\u9032\u3057\u3066\u30b3\u30fc\u30e9\u7f36\u306b\u8fd1\u3065\u304d\u307e\u3059\u3002\u3042\u308b\u8ddd\u96e2\u307e\u3067\u8fd1\u3065\u304f\u3068\u3001\u30a2\u30fc\u30e0\u3092\u964d\u308d\u3057\u3001\u63a5\u8fd1\u306e\u30e2\u30fc\u30c9\u3092\u5909\u3048\u3001\u901f\u5ea6\u3092\u843d\u3068\u3059\u3068\u3068\u3082\u306b\u3001\u901a\u5e38\u306eNav2\u306b\u3088\u308b\u79fb\u52d5\u304b\u3089\u3001\u30ab\u30e1\u30e9\u3092\u7528\u3044\u305f\u30d3\u30b8\u30e5\u30a2\u30eb\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u306b\u3088\u308b\u79fb\u52d5\u30e2\u30fc\u30c9\u306b\u79fb\u884c\u3057\u307e\u3059\u3002\u30b3\u30fc\u30e9\u7f36\u3092\u63b4\u307f\u3001\u6301\u3061\u4e0a\u3052\u305f\u72b6\u614b\u3067\u505c\u6b62\u3057\u307e\u3059\u3002<\/p>\n<h2>\u3007\u3000\u5b9f\u6a5f\u306e\u5b9f\u884c<\/h2>\n<p>\u8fd1\u304f\u3001\u30c7\u30e2\u306e\u5b9f\u884c\u65b9\u6cd5\u3082\u516c\u958b\u3044\u305f\u3057\u307e\u3059\u3002<\/p>\n","protected":false},"author":1,"featured_media":0,"template":"","meta":{"footnotes":""},"wiki_cats":[3],"wiki_tags":[],"class_list":["post-232","yada_wiki","type-yada_wiki","status-publish","hentry","wiki_cats-ros"],"_links":{"self":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/232","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki"}],"about":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/types\/yada_wiki"}],"author":[{"embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"version-history":[{"count":19,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/232\/revisions"}],"predecessor-version":[{"id":513,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/232\/revisions\/513"}],"wp:attachment":[{"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=232"}],"wp:term":[{"taxonomy":"wiki_cats","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_cats&post=232"},{"taxonomy":"wiki_tags","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_tags&post=232"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}