{"id":9692,"date":"2023-12-20T16:13:19","date_gmt":"2023-12-20T07:13:19","guid":{"rendered":"https:\/\/developers.agirobots.com\/jp\/?p=9692"},"modified":"2024-07-03T19:10:10","modified_gmt":"2024-07-03T10:10:10","slug":"how-to-run-aloha","status":"publish","type":"post","link":"https:\/\/developers.agirobots.com\/jp\/how-to-run-aloha\/","title":{"rendered":"ALOHA\u3068ACT\u3092\u7528\u3044\u305f\u6a21\u5023\u5b66\u7fd2\u5b9f\u9a13\u306e\u518d\u73fe\u65b9\u6cd5"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">\u306f\u3058\u3081\u306b<\/h2>\n\n\n\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001RSS 2023\u3067\u767a\u8868\u3055\u308c\u305f\u8ad6\u6587\u300cLearning Fine-Grained Bimanual Manipulation with Low-Cost Hardware\u300d\u3067\u7d39\u4ecb\u3055\u308c\u305f\u3001\u4f4e\u30b3\u30b9\u30c8\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u300cALOHA\u300d\u3092\u7528\u3044\u3066\u3001ACT\uff08Action Chunking with Transformers\uff09\u306b\u3088\u308b\u6a21\u5023\u5b66\u7fd2\u5b9f\u9a13\u3092\u884c\u3046\u307e\u3067\u306e\u4e00\u9023\u306e\u4f5c\u696d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>ALOHA\u3068ACT\u306e\u8ad6\u6587: <a href=\"https:\/\/arxiv.org\/abs\/2304.13705\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2304.13705<\/a><\/p>\n\n\n\n<p>ALOHA\u306eGitHub\u30ea\u30dd\u30b8\u30c8\u30ea:<\/p>\n\n\n\n<a href=\"https:\/\/github.com\/tonyzhaozh\/aloha\"><img decoding=\"async\" src=\"https:\/\/gh-card.dev\/repos\/tonyzhaozh\/aloha.svg\"><\/a>\n\n\n\n<p>ACT\u306eGitHub\u30ea\u30dd\u30b8\u30c8\u30ea:<\/p>\n\n\n\n<a href=\"https:\/\/github.com\/tonyzhaozh\/act\"><img decoding=\"async\" src=\"https:\/\/gh-card.dev\/repos\/tonyzhaozh\/act.svg\"><\/a>\n\n\n\n<p>ALOHA\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306b\u3064\u3044\u3066\u306f\u3001GitHub\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u8a73\u3057\u3044\u624b\u9806\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u3053\u308c\u3089\u306e\u624b\u9806\u306f\u4f5c\u696d\u304c\u591a\u5c90\u306b\u308f\u305f\u308a\u3084\u3084\u8907\u96d1\u3067\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3059\u3002\u307e\u305f\u3001ROS\u306eNoetic\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3059\u304c\u3001\u3053\u306e\u8a18\u4e8b\u306e\u57f7\u7b46\u6642\u70b9\u3067\u591a\u304f\u306e\u65b9\u304cUbuntu 22.04 LTS\u4ee5\u4e0a\u3092\u4f7f\u7528\u3057\u3066\u3044\u308b\u3060\u308d\u3046\u3068\u3044\u3046\u3053\u3068\u3092\u8e0f\u307e\u3048\u3001\u30db\u30b9\u30c8PC\u306eOS\u304cNoetic\u306b\u975e\u5bfe\u5fdc\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u3082\u5bb9\u6613\u306b\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3067\u304d\u308b\u3088\u3046\u306bDocker\u3092\u5229\u7528\u3057\u305f\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u3088\u308a\u624b\u8efd\u306bALOHA\u306e\u74b0\u5883\u3092\u6574\u3048\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"is-style-st-paragraph-check\">\u3053\u306e\u8a18\u4e8b\u306f\u3001\u79c1\u304c\u30ec\u30a2\u30be\u30f3\u30fb\u30d2\u30e5\u30fc\u30de\u30f3\u30a4\u30f3\u30bf\u30e9\u30af\u30b7\u30e7\u30f3\u7814\u7a76\u6240\uff08Reazon Human Interaction Laboratory\uff09\u304c\u4e3b\u5c0e\u3059\u308b\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306b\u53c2\u52a0\u3059\u308b\u306a\u304b\u3067\u5f97\u305f\u77e5\u898b\u306b\u57fa\u3065\u3044\u3066\u3044\u307e\u3059\u3002<br>\u3053\u3053\u3067\u306f\u3001\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u306e\u53d6\u308a\u7d44\u307f\u3092\u516c\u958b\u3057\u3001\u305d\u306e\u6210\u679c\u3092\u5171\u6709\u3059\u308b\u3053\u3068\u3092\u76ee\u7684\u3068\u3057\u3066\u3044\u307e\u3059\u3002 \u3053\u306e\u60c5\u5831\u306f\u3001Reazon Human Interaction Laboratory\u306e\u30d6\u30ed\u30b0\u30da\u30fc\u30b8\u3068AGIRobots\u306e\u30d6\u30ed\u30b0\u30da\u30fc\u30b8\u306e\u4e21\u65b9\u3067\u540c\u6642\u306b\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u3002<br><strong>Reazon Human Interaction Laboratory<\/strong>: <a href=\"https:\/\/research.reazon.jp\/blog\/2024-03-02-how-to-run-aloha-developers.agirobots.com.html\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/research.reazon.jp\/blog\/2024-03-02-how-to-run-aloha-developers.agirobots.com.html<\/a><br><strong>AGIRobots<\/strong>: <a href=\"https:\/\/developers.agirobots.com\/jp\/how-to-run-aloha\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/developers.agirobots.com\/jp\/how-to-run-aloha\/<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8b\u524d\u6e96\u5099<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">\u8981\u6c42\u3055\u308c\u308bPC\u306e\u4ed5\u69d8<\/h3>\n\n\n\n<p>ALOHA\u3067\u306f\u30014\u53f0\u306e\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\uff08ViperX 300\u3068WidowX 250\u305d\u308c\u305e\u308c2\u53f0\u305a\u3064\uff09\u30684\u53f0\u306e\u30ab\u30e1\u30e9\uff08Logitech C922X\uff09\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002\u3053\u308c\u3089\u306e\u6a5f\u5668\u3092\u540c\u6642\u306b\u4f7f\u7528\u3059\u308b\u3068\u5927\u91cf\u306eUSB\u5e2f\u57df\u3092\u5fc5\u8981\u3068\u3059\u308b\u305f\u3081\u3001USB 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class=\"wp-block-heading\">\u8981\u6c42\u3055\u308c\u308bOS<\/h3>\n\n\n\n<p>\u3053\u306e\u8a18\u4e8b\u3067\u7d39\u4ecb\u3059\u308b\u52d5\u4f5c\u74b0\u5883\u306e\u6574\u5099\u3067\u306fDocker\u3092\u4f7f\u7528\u3057\u307e\u3059\u306e\u3067\u3001Docker\u304c\u52d5\u4f5c\u3059\u308bOS\u304c\u5fc5\u8981\u3067\u3059\u3002\u307e\u305f\u3001Docker\u30b3\u30f3\u30c6\u30ca\u304b\u3089USB\u30c7\u30d0\u30a4\u30b9\u3078\u306e\u30a2\u30af\u30bb\u30b9\u304c\u53ef\u80fd\u3067\u3042\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u306e\u3067\u3001<strong>\u57fa\u672c\u7684\u306b\u306fUbuntu\u3092\u63a8\u5968<\/strong>\u3057\u307e\u3059\u3002<br>\u203bDocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u672c\u8a18\u4e8b\u3067\u306f\u7d39\u4ecb\u3057\u3066\u3044\u307e\u305b\u3093\u306e\u3067\u3001\u3054\u81ea\u8eab\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u30b7\u30b9\u30c6\u30e0\u6982\u8981<\/h2>\n\n\n\n<p>\u672c\u8a18\u4e8b\u3067\u69cb\u7bc9\u3059\u308bALOHA\u306e\u52d5\u4f5c\u74b0\u5883\u306e\u5168\u4f53\u7684\u306a\u69cb\u6210\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u56f3\u3092\u898b\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img decoding=\"async\" width=\"1024\" height=\"644\" src=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-13-1024x644.png\" alt=\"\" class=\"wp-image-9943\" srcset=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-13-1024x644.png 1024w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-13-300x189.png 300w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-13-768x483.png 768w, 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3.0\u4ee5\u4e0a\u306e\u30dd\u30fc\u30c8\u306b\u63a5\u7d9a\u3055\u308c\u307e\u3059\uff08\u5e2f\u57df\u304c\u5c0f\u3055\u3044\u3068\u901a\u4fe1\u30a8\u30e9\u30fc\u306b\u306a\u308b\u53ef\u80fd\u6027\u3042\u308a\uff09\u3002<\/p>\n\n\n\n<p>\u30c7\u30d0\u30a4\u30b9\u3092PC\u306b\u63a5\u7d9a\u3059\u308b\u3068\u3001\u30ed\u30dc\u30c3\u30c8\u306fttyUSB*\u3001\u30ab\u30e1\u30e9\u306fvideo*\u3068\u3057\u3066\u8a8d\u8b58\u3055\u308c\u307e\u3059\uff08*\u306f\u4efb\u610f\u306e\u6570\u5b57\uff09\u304c\u3001\u3053\u306e\u756a\u53f7\u306f\u63a5\u7d9a\u306e\u9806\u756a\u306b\u3088\u3063\u3066\u5909\u5316\u3057\u3001PC\u3092\u518d\u8d77\u52d5\u3059\u308b\u305f\u3073\u306b\u5909\u5316\u3057\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u308c\u3067\u306f\u4e0d\u4fbf\u3067\u3059\u306e\u3067\u3001\/etc\/udev\/rules.d\u306b\u30c7\u30d0\u30a4\u30b9ID\u304b\u3089\u76f4\u63a5\u5206\u304b\u308a\u3084\u3059\u3044\u540d\u524d\u3068\u3057\u3066\u8a8d\u8b58\u3059\u308b\u305f\u3081\u306e\u30eb\u30fc\u30eb\u3092\u8a18\u8f09\u3057\u3001\u5404\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u3084\u30ab\u30e1\u30e9\u304c\u6bce\u56de\u540c\u3058\u540d\u524d\u3067\u8a8d\u8b58\u3055\u308c\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002\u8a8d\u8b58\u5f8c\u306e\u540d\u524d\u306f\u4e0a\u56f3\u306e\u70b9\u7dda\u306e\u8f2a\u3067\u56f2\u307e\u308c\u305f\u3088\u3046\u306b\u3057\u307e\u3059\uff08\u6b21\u306e\u7ae0\u3067\u8aac\u660e\uff09\u3002<\/p>\n\n\n\n<p>\u3053\u308c\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u672c\u8a18\u4e8b\u306b\u8a18\u8f09\u306eDockerfile\u3092\u30d3\u30eb\u30c9\u3057\u3001Docker\u30a4\u30e1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u4f5c\u6210\u3055\u308c\u305fDocker\u30a4\u30e1\u30fc\u30b8\u304b\u3089\u30b3\u30f3\u30c6\u30ca\u3092\u4f5c\u6210\u3059\u308b\u3068\u3001\u305d\u308c\u306fVNC\u3092\u901a\u3058\u3066\u64cd\u4f5c\u53ef\u80fd\u3067\u3001\u30c7\u30a3\u30b9\u30d7\u30ec\u30a4\u304c\u306a\u3044\u30de\u30b7\u30f3\u3067\u3082\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u3092\u4ecb\u3057\u3066\u5225\u306ePC\u304b\u3089\u30a2\u30af\u30bb\u30b9\u3067\u304d\u307e\u3059\u3002\u540c\u4e00\u30de\u30b7\u30f3\u4e0a\u304b\u3089\u30a2\u30af\u30bb\u30b9\u3059\u308b\u5834\u5408\u306f\u3001\u30d6\u30e9\u30a6\u30b6\u3067http:127.0.0.1:6080\u306b\u30a2\u30af\u30bb\u30b9\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p>\u307e\u305f\u3001ACT\u3067\u6a21\u5023\u5b66\u7fd2\u3059\u308b\u306b\u306f\u4e8b\u524d\u306b\u5927\u91cf\u306e\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u3092\u7528\u610f\u3057\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u306f\u30db\u30b9\u30c8PC\u306b\u4f5c\u6210\u3057\u305f~\/datasets\u30d5\u30a9\u30eb\u30c0\u306b\u4fdd\u5b58\u3059\u308b\u3053\u3068\u3067\u3001\u65b0\u3057\u304f\u30b3\u30f3\u30c6\u30ca\u3092\u4f5c\u6210\u3057\u306a\u304a\u3057\u3066\u3082\u53ce\u96c6\u3057\u305f\u30c7\u30fc\u30bf\u3092\u518d\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u203b\u672c\u8a18\u4e8b\u3067\u7d39\u4ecb\u3059\u308bDockerfile\u306fAMD64\u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3\u5411\u3051\u3067\u3059\u3002Raspberry Pi\u3084Jetson\u306a\u3069\u3067\u904b\u7528\u3057\u305f\u3044\u5834\u5408\u306f\u3001Dockerfile\u306e\u5185\u5bb9\u3092\u5909\u66f4\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u73fe\u6642\u70b9\u3067\u306f\u3001\u3053\u308c\u3089\u306e\u30c7\u30d0\u30a4\u30b9\u7528\u306eDockerfile\u306f\u4f5c\u6210\u3057\u3066\u3044\u307e\u305b\u3093\u304c\u3001\u5c06\u6765\u7684\u306b\u8ffd\u52a0\u3059\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u304c\u3001\u672c\u8a18\u4e8b\u3067\u69cb\u7bc9\u3059\u308b\u30b7\u30b9\u30c6\u30e0\u6982\u8981\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u30c7\u30d0\u30a4\u30b9\u8a8d\u8b58\u540d\u306e\u8a2d\u5b9a<\/h2>\n\n\n\n<p>\u3053\u3053\u3067\u306f\u3001\u63a5\u7d9a\u3057\u305f\u30c7\u30d0\u30a4\u30b9\u540d\u3092\u3001\u3053\u308c\u304b\u3089\u8a2d\u5b9a\u3059\u308b\u30d5\u30a1\u30a4\u30eb\uff08<strong>\/etc\/udev\/rules.d\/99-fixed-interbotix-udev.rules<\/strong>\uff09\u306b\u8a18\u8f09\u306e\u901a\u308a\u306e\u540d\u524d\u3068\u3057\u3066\u8a8d\u8b58\u3055\u308c\u308b\u3088\u3046\u306b\u8a2d\u5b9a\u3092\u884c\u3044\u307e\u3059\u3002\u4eca\u56de\u63a5\u7d9a\u3059\u308b\u30c7\u30d0\u30a4\u30b9\u306f\u3001\uff14\u53f0\u306e\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u3068\uff14\u53f0\u306eWeb\u30ab\u30e1\u30e9\u3067\u3059\u3002\u305d\u308c\u305e\u308c\u306b\u3064\u3044\u3066\u3001\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u3092\u78ba\u8a8d\u3059\u308b\u4f5c\u696d\u304c\u3001\u3053\u3053\u3067\u4e00\u756a\u306e\u9762\u5012\u306a\u3068\u3053\u308d\u3067\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\uff14\u53f0\u306e\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u306e\u8a8d\u8b58\u540d\u8a2d\u5b9a<\/h3>\n\n\n\n<p>USB\u3067\u63a5\u7d9a\u3055\u308c\u305f\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u306f\u3001ttyUSB*\u306e\u5f62\u3067\u8a8d\u8b58\u3055\u308c\u307e\u3059\u304c\u3001*\u306e\u90e8\u5206\u306f\u63a5\u7d9a\u9806\u306b\u3088\u3063\u3066\u5909\u308f\u308a\u307e\u3059\u3002\u3053\u308c\u3092\u89e3\u6c7a\u3059\u308b\u305f\u3081\u306b\u3001\u30c7\u30d0\u30a4\u30b9\u306e\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u3092\u7528\u3044\u3066\u3001\u305d\u308c\u305e\u308c\u306e\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u306b\u56fa\u6709\u306e\u540d\u524d\u3092\u5272\u308a\u5f53\u3066\u307e\u3059\u3002<\/p>\n\n\n\n<p><strong>\u5404\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u306e\u53d6\u5f97<\/strong><\/p>\n\n\n\n<p>\u307e\u305a\u3001\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u3092\u8abf\u3079\u308b\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u306e\u307f\u3092PC\u306b\u63a5\u7d9a\u3057\u307e\u3059\u3002\u305d\u3057\u3066\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u3001\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\uff08\u4f8b: FT89FIZE\uff09\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002<br>\u203b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u306f\u3001ttyUSB0\u3068\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u4ee5\u5916\u306e\u30c7\u30d0\u30a4\u30b9\u304c\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u3068\u3001\u5fc5\u305a\u3057\u3082ttyUSB0\u3067\u3042\u308b\u3068\u306f\u9650\u308a\u307e\u305b\u3093\u306e\u3067\u3001\u30ed\u30dc\u30c3\u30c8\u304c\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u30c7\u30d0\u30a4\u30b9\u304c\u3069\u308c\u304b\u3092\u78ba\u8a8d\u3057\u3001ttyUSB\u306e\u756a\u53f7\u3092\u9069\u5b9c\u5909\u66f4\u3057\u305f\u3046\u3048\u3067\u5b9f\u884c\u3057\u307e\u3057\u3087\u3046\u3002\u3053\u308c\u30924\u53f0\u3059\u3079\u3066\u306e\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u306b\u3064\u3044\u3066\u5b9f\u65bd\u3057\u307e\u3059\u3002\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u306f\u5fd8\u308c\u306a\u3044\u3088\u3046\u306b\u3001\u30e1\u30e2\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>udevadm info --name=\/dev\/ttyUSB0 --attribute-walk | grep serial<\/code><\/pre><\/div>\n\n\n\n<p><strong>udev\u30eb\u30fc\u30eb\u306e\u7de8\u96c6<\/strong><\/p>\n\n\n\n<p><code>\/etc\/udev\/rules.d\/99-fixed-interbotix-udev.rules<\/code> \u3092\u7ba1\u7406\u8005\u6a29\u9650\u306e\u3082\u3068\u30a8\u30c7\u30a3\u30bf\u3067\u958b\u304d\u3001\u4ee5\u4e0b\u306e\u30eb\u30fc\u30eb\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u5de6\u5074\u306e\u30ea\u30fc\u30c0\u30fc\u30a2\u30fc\u30e0: <code>ttyDXL_master_left<\/code><br>\u53f3\u5074\u306e\u30ea\u30fc\u30c0\u30fc\u30a2\u30fc\u30e0: <code>ttyDXL_master_right<\/code><br>\u5de6\u5074\u306e\u30d5\u30a9\u30ed\u30ef\u30fc\u30a2\u30fc\u30e0: <code>ttyDXL_puppet_left<\/code><br>\u53f3\u5074\u306e\u30d5\u30a9\u30ed\u30ef\u30fc\u30a2\u30fc\u30e0: <code>ttyDXL_puppet_right<\/code><\/p>\n\n\n\n<p>\u4f8b\u3048\u3070\u3001\u5de6\u5074\u306e\u30ea\u30fc\u30c0\u30a2\u30fc\u30e0\uff08ttyDXL_master_left\uff09\u306e\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u304cFT89FIZE\u306e\u3068\u304d\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30eb\u30fc\u30eb\u3092\u8a18\u8f09\u3057\u307e\u3059\u3002<br>\u3053\u308c\u3092\u6b8b\u308a\u306e\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u306b\u3064\u3044\u3066\u3082\u5b9f\u65bd\u3057\u307e\u3059\u3002\u305d\u306e\u969b\u306f\u3001ATTRS{serial}\u3068SYMLINK\u306e\u90e8\u5206\u3092\u9069\u5207\u306b\u66f8\u304d\u63db\u3048\u3066\u304f\u3060\u3055\u3044\u30024\u53f0\u306e\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u306b\u3064\u3044\u3066\u8a2d\u5b9a\u304c\u7d42\u308f\u308b\u30684\u884c\u5206\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>SUBSYSTEM==&quot;tty&quot;, ATTRS{serial}==&quot;FT89FIZE&quot;, ENV{ID_MM_DEVICE_IGNORE}=&quot;1&quot;, ATTR{device\/latency_timer}=&quot;1&quot;, SYMLINK+=&quot;ttyDXL_master_left&quot;<\/code><\/pre><\/div>\n\n\n\n<p><strong>\u8a2d\u5b9a\u306e\u78ba\u8a8d<\/strong><\/p>\n\n\n\n<p>99-fixed-interbotix-udev.rules\u306b\u30eb\u30fc\u30eb\u3092\u8a18\u8f09\u3057\u7d42\u3048\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>sudo udevadm control --reload && sudo udevadm trigger<\/code><\/pre><\/div>\n\n\n\n<p>\u305d\u3057\u3066\u30014\u53f0\u306e\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u3092\u63a5\u7d9a\u3057\u3001\u6307\u5b9a\u3057\u305f\u540d\u524d\u3067\u8a8d\u8b58\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u4e0b\u3055\u3044\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4\u53f0\u306eWeb\u30ab\u30e1\u30e9\u306e\u8a8d\u8b58\u540d\u8a2d\u5b9a<\/h3>\n\n\n\n<p>USB\u3067\u63a5\u7d9a\u3055\u308c\u305fWeb\u30ab\u30e1\u30e9\u306f\u3001video*\u306e\u5f62\u3067\u8a8d\u8b58\u3055\u308c\u307e\u3059\u304c\u3001*\u306e\u90e8\u5206\u306f\u63a5\u7d9a\u9806\u306b\u3088\u3063\u3066\u5909\u308f\u308a\u307e\u3059\u3002\u3053\u308c\u3092\u89e3\u6c7a\u3059\u308b\u305f\u3081\u306b\u3001\u30c7\u30d0\u30a4\u30b9\u306e\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u3092\u7528\u3044\u3066\u3001\u305d\u308c\u305e\u308c\u306eWeb\u30ab\u30e1\u30e9\u306b\u56fa\u6709\u306e\u540d\u524d\u3092\u5272\u308a\u5f53\u3066\u307e\u3059\u3002<\/p>\n\n\n\n<p><strong>\u5404Web\u30ab\u30e1\u30e9\u306e\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u306e\u53d6\u5f97<\/strong><\/p>\n\n\n\n<p>\u307e\u305a\u3001\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u3092\u77e5\u308a\u305f\u3044Web\u30ab\u30e1\u30e9\u306e\u307f\u3092PC\u306b\u63a5\u7d9a\u3057\u307e\u3059\u3002\u305d\u3057\u3066\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u3001\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002<br>\u203b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u306f\u3001video0\u3068\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u5225\u306e\u30ab\u30e1\u30e9\u304c\u8a8d\u8b58\u3055\u308c\u3066\u3044\u308b\u3068\u3001\u5fc5\u305a\u3057\u3082video0\u3067\u3042\u308b\u3068\u306f\u9650\u308a\u307e\u305b\u3093\u306e\u3067\u3001\u30ab\u30e1\u30e9\u304c\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u30c7\u30d0\u30a4\u30b9\u304c\u3069\u308c\u304b\u3092\u78ba\u8a8d\u3057\u305f\u3046\u3048\u3067\u5b9f\u884c\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>udevadm info --name=\/dev\/video0 --attribute-walk | grep serial<\/code><\/pre><\/div>\n\n\n\n<div class=\"wp-block-st-blocks-memo clip-memobox\" style=\"color:#000;background-color:#fafafa\"><div class=\"clip-fonticon\" style=\"color:#919191;border-color:#9191914d\"><i class=\"st-fa st-svg-file-text-o st-css-no\" data-icon-label=\"\" aria-hidden=\"\"><\/i><\/div><div class=\"clip-memotext\" style=\"color:#000\">\n<p>\u4e0a\u8a18\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u3082\u3001\u8a8d\u8b58\u3055\u308c\u306a\u3044\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>Web\u30ab\u30e1\u30e9\u304c\u6b63\u3057\u304f\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u306b\u3082\u304b\u304b\u308f\u3089\u305a\u3001<code>Unknown device \"\/dev\/video0\": No such file or directory<\/code>\u304c\u8868\u793a\u3055\u308c\u3066\u3044\u305f\u3089\u3001\u6b63\u3057\u304f\u8a8d\u8b58\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3002\u305d\u306e\u5834\u5408\u306f\u3001<code>lsusb -vt<\/code>\u3092\u5b9f\u884c\u3057\u3001\u30c9\u30e9\u30a4\u30d0\u30fc\u304c\u8aad\u307f\u8fbc\u307e\u308c\u3066\u3044\u308b\u304b\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<p>ALOHA\u4ed8\u5c5e\u306eLogitech C922 Pro Stream Webcam\u306eVideo\u306e\u30c9\u30e9\u30a4\u30d0\u30fc\u90e8\u5206\u304c\u3001<code>Driver=,<\/code>\u3068\u7a7a\u767d\u306e\u5834\u5408\u3001\u30c9\u30e9\u30a4\u30d0\u30fc\u3046\u307e\u304f\u8aad\u307f\u8fbc\u307e\u308c\u3066\u3044\u307e\u305b\u3093\u3002\u3053\u306eWeb\u30ab\u30e1\u30e9\u306fUVC\u30bf\u30a4\u30d7\u306a\u306e\u3067\u3001Linux\u3067\u3042\u308c\u3070\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u642d\u8f09\u3055\u308c\u3066\u3044\u308b<code>uvcvideo<\/code>\u3067\u554f\u984c\u306a\u304f\u5229\u7528\u3067\u304d\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n\n\n\n<p><code>dmesg<\/code>\u30b3\u30de\u30f3\u30c9\u3092\u7528\u3044\u3066\u3001\u30c7\u30d0\u30a4\u30b9\u306e\u63a5\u7d9a\u306b\u304a\u3051\u308b\u30ed\u30b0\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002\u76f4\u8fd120\u500b\u306e\u30ed\u30b0\u3092\u78ba\u8a8d\u3059\u308b\u5834\u5408\u306f<code>dmesg | tail -n 20<\/code>\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002\u3082\u3057\u3001C922\u306e\u63a5\u7d9a\u3067\u3001<code>Lockdown: systemd-udevd: unsigned module loading is restricted; see man kernel_lockdown.7<\/code>\u3068\u3044\u3046\u3088\u3046\u306a\u3082\u306e\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u305f\u3089\u3001\u30ed\u30c3\u30af\u30c0\u30a6\u30f3\u6a5f\u80fd\u304c\u6709\u52b9\u5316\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u304c\u539f\u56e0\u3067\u3059\u3002\u3053\u308c\u306f\u3001\u30bb\u30ad\u30e5\u30a2\u30d6\u30fc\u30c8\u304c\u6709\u52b9\u5316\u3055\u308c\u3066\u3044\u308b\u3068\u3001\u81ea\u52d5\u7684\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3057\u307e\u3046\u3053\u3068\u304c\u3042\u308b\u306e\u3067\u3001<code>mokutil --sb-state<\/code>\u30b3\u30de\u30f3\u30c9\u3067\u78ba\u8a8d\u3057\u3001\u3082\u3057\u30bb\u30ad\u30e5\u30a2\u30d6\u30fc\u30c8\u304c\u6709\u52b9\u5316\u3055\u308c\u3066\u3044\u305f\u3089\u3001BIOS\/UEFI\u3092\u958b\u3044\u3066\u3001\u7121\u52b9\u5316\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<\/div><\/div>\n\n\n\n<p><strong>udev\u30eb\u30fc\u30eb\u306e\u7de8\u96c6<\/strong><\/p>\n\n\n\n<p>\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u306e\u30c7\u30d0\u30a4\u30b9\u540d\u306e\u30eb\u30fc\u30eb\u3092\u8a18\u8f09\u3057\u305f\u30d5\u30a1\u30a4\u30eb\u3068\u540c\u3058<code>\/etc\/udev\/rules.d\/99-fixed-interbotix-udev.rules<\/code> \u3092\u30a8\u30c7\u30a3\u30bf\u3067\u958b\u304d\u3001\u4ee5\u4e0b\u306e\u30eb\u30fc\u30eb\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u5de6\u5074\u306e\u30d5\u30a9\u30ed\u30ef\u30fc\u30a2\u30fc\u30e0\u306e\u30ab\u30e1\u30e9: <code>CAM_LEFT_WRIST<\/code><br>\u53f3\u5074\u306e\u30d5\u30a9\u30ed\u30ef\u30fc\u30a2\u30fc\u30e0\u306e\u30ab\u30e1\u30e9: <code>CAM_RIGHT_WRIST<\/code><br>\u771f\u3093\u4e2d\u4ed8\u8fd1\u4e0b\u306e\u30ab\u30e1\u30e9: <code>CAM_LOW<\/code><br>\u771f\u3093\u4e2d\u4ed8\u8fd1\u4e0a\u306e\u30ab\u30e1\u30e9: <code>CAM_HIGH<\/code><\/p>\n\n\n\n<p>\u30eb\u30fc\u30eb\u306e\u4f8b\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002ATTRS{serial}\u3068SYMLINK\u306e\u90e8\u5206\u3092\u9069\u5207\u306b\u66f8\u304d\u63db\u3048\u3066\u304f\u3060\u3055\u3044\u30024\u53f0\u306e\u30ab\u30e1\u30e9\u3092\u63a5\u7d9a\u3059\u308b\u306e\u3067\u30014\u884c\u5206\u306e\u30eb\u30fc\u30eb\u3092\u8ffd\u8a18\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>SUBSYSTEM==&quot;video4linux&quot;, ATTRS{serial}==&quot;&lt;\u30ab\u30e1\u30e9\u306e\u30b7\u30ea\u30a2\u30eb\u756a\u53f7&gt;&quot;, ATTR{index}==&quot;0&quot;, ATTRS{idProduct}==&quot;085c&quot;, ATTR{device\/latency_timer}=&quot;1&quot;, SYMLINK+=&quot;CAM_LEFT_WRIST&quot;<\/code><\/pre><\/div>\n\n\n\n<p><strong>\u8a2d\u5b9a\u306e\u78ba\u8a8d<\/strong><\/p>\n\n\n\n<p>99-fixed-interbotix-udev.rules\u306b\u30eb\u30fc\u30eb\u3092\u8a18\u8f09\u3057\u7d42\u3048\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>sudo udevadm control --reload && sudo udevadm trigger<\/code><\/pre><\/div>\n\n\n\n<p>\u305d\u3057\u3066\u30014\u53f0\u306eWeb\u30ab\u30e1\u30e9\u3092\u63a5\u7d9a\u3057\u3001\u6307\u5b9a\u3057\u305f\u540d\u524d\u3067\u8a8d\u8b58\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u4e0b\u3055\u3044\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u30b0\u30ea\u30c3\u30d1\u30fc\u306b\u30c8\u30eb\u30af\u5236\u9650\u3092\u8a2d\u5b9a<\/h2>\n\n\n\n<p>Dynamixel Wizard\u3092\u4f7f\u7528\u3057\u3001\u30d5\u30a9\u30ed\u30ef\u30fc\u5074\u306e\u30a2\u30fc\u30e0\u306eID\u304c9\u756a\u306e\u30b5\u30fc\u30dc\u306b\u96fb\u6d41\u5236\u9650\u3092\u8ffd\u52a0\u3057\u3001\u30b0\u30ea\u30c3\u30d1\u304c\u904e\u5ea6\u306b\u5f37\u304f\u9589\u3058\u3066\u58ca\u308c\u308b\u3053\u3068\u3084\u3001\u904e\u8ca0\u8377\u30a8\u30e9\u30fc\u3092\u9632\u3052\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\u30a2\u30c9\u30ec\u30b938\u306eCurrent Limit\u3092300\u306b\u8a2d\u5b9a\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-11-1024x768.png\" alt=\"\" class=\"wp-image-9934\" srcset=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-11-1024x768.png 1024w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-11-300x225.png 300w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-11-768x576.png 768w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-11.png 1477w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/div>\n\n\n<h2 class=\"wp-block-heading\">Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9<\/h2>\n\n\n\n<p>\u3053\u306e\u7ae0\u3067\u306f\u3001ALOHA\u306e\u5236\u5fa1\u304a\u3088\u3073ACT\u306b\u3088\u308b\u6a21\u5023\u5b66\u7fd2\u3092\u884c\u3046\u305f\u3081\u306eDocker\u30a4\u30e1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>Docker\u30a4\u30e1\u30fc\u30b8\u3092\u30d3\u30eb\u30c9\u3059\u308b\u306b\u306fDockerfile\u304c\u5fc5\u8981\u3067\u3059\u3002aloha_docker\u3068\u3044\u3046\u30d5\u30a9\u30eb\u30c0\u3092\u30db\u30fc\u30e0\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u76f4\u4e0b\u306b\u4f5c\u6210\u3057\u3001\u305d\u306e\u4e2d\u306bDockerfile\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\u306b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>mkdir ~\/aloha_docker<\/code><\/pre><\/div>\n\n\n\n<p>aloha_docker\u30d5\u30a9\u30eb\u30c0\u306e\u4e2d\u3067\u3001Dockerfile\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>nano ~\/aloha_docker\/Dockerfile<\/code><\/pre><\/div>\n\n\n\n<p>Dockerfile\u306b\u306f\u4e0b\u8a18\u306e\u30b3\u30fc\u30c9\u3092\u8a18\u8f09\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>FROM tiryoh\/ros-desktop-vnc:noetic-amd64-20240512T0225\n\n# ROOT\u306bNoetic\u306e\u74b0\u5883\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\nRUN \/tmp\/ros_setup_scripts_ubuntu\/ros-noetic-desktop.sh\n\n# \u5fc5\u8981\u306a\u4f9d\u5b58\u95a2\u4fc2\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nRUN apt-get update && apt-get install -y \\\n    curl \\\n    git \\\n    python3-pip \\\n    ros-noetic-usb-cam \\\n    ros-noetic-cv-bridge \\\n    sudo \\\n    vim \\\n    expect \\\n    && rm -rf \/var\/lib\/apt\/lists\/*\n\n# \u30ad\u30fc\u30dc\u30fc\u30c9\u8a2d\u5b9a\u3092\u4e8b\u524d\u306b\u8a2d\u5b9a\nRUN echo &#39;keyboard-configuration keyboard-configuration\/layout select English (US)&#39; | debconf-set-selections\nRUN echo &#39;keyboard-configuration keyboard-configuration\/layoutcode select &quot;us&quot;&#39; | debconf-set-selections\n\n# XSArm\u306e\u5236\u5fa1\u7528\u306e\u5404\u7a2e\u6a5f\u80fd\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\uff06\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nRUN curl &#39;https:\/\/raw.githubusercontent.com\/Interbotix\/interbotix_ros_manipulators\/main\/interbotix_ros_xsarms\/install\/amd64\/xsarm_amd64_install.sh&#39; &gt; xsarm_amd64_install.sh && \\\n    chmod +x xsarm_amd64_install.sh && \\\n    .\/xsarm_amd64_install.sh -d noetic -n -p \/root\/interbotix_ws\n\n# ALOHA\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\nRUN cd \/root\/interbotix_ws\/src && git clone https:\/\/github.com\/tonyzhaozh\/aloha.git\n\n# \u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u30d3\u30eb\u30c9\nRUN \/bin\/bash -c &#39;. \/opt\/ros\/noetic\/setup.sh; \/root\/interbotix_ws\/devel\/setup.sh; cd \/root\/interbotix_ws; catkin_make&#39;\n\n# interbotix_xs_toolbox\u306earm.py\u30d5\u30a1\u30a4\u30eb\u3092\u7de8\u96c6\nRUN sed -i &#39;\/self.T_sb = mr.FKinSpace(self.robot_des.M, self.robot_des.Slist, self.joint_commands)\/c\\        self.T_sb = None&#39; \/root\/interbotix_ws\/src\/interbotix_ros_toolboxes\/interbotix_xs_toolbox\/interbotix_xs_modules\/src\/interbotix_xs_modules\/arm.py\n\n# ROS\u74b0\u5883\u3068interbotix_ws\u306esetup.sh\u3092source\u3059\u308b\u305f\u3081\u306e\u30b3\u30de\u30f3\u30c9\u3092.bashrc\u306b\u8ffd\u52a0\nRUN echo &quot;source \/opt\/ros\/noetic\/setup.sh&quot; &gt;&gt; \/root\/.bashrc && \\\n    echo &quot;source \/root\/interbotix_ws\/devel\/setup.sh&quot; &gt;&gt; \/root\/.bashrc\n\nENV USER root\n\nRUN mkdir \/datasets  # \u30a8\u30d4\u30bd\u30fc\u30c9\u306e\u30c7\u30fc\u30bf\u3092\u4fdd\u5b58\u3059\u308b\u305f\u3081\u306e\u30d5\u30a9\u30eb\u30c0\u3002\u30db\u30b9\u30c8PC\u4e0a\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u30de\u30a6\u30f3\u30c8\u3059\u308b\u7528\n# sed\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u7528\u3057\u3066DATA_DIR\u3092\u4e0a\u3067\u4f5c\u6210\u3057\u305f\/datasets\u306b\u5909\u66f4\nRUN sed -i &quot;s|DATA_DIR = &#39;&lt;put your data dir here&gt;&#39;|DATA_DIR = &#39;\/datasets&#39;|&quot; &quot;\/root\/interbotix_ws\/src\/aloha\/aloha_scripts\/constants.py&quot;\n\nRUN git clone https:\/\/github.com\/tonyzhaozh\/act.git  # ACT\n\n\n\n# Python\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nRUN pip3 install torch torchvision pyquaternion pyyaml rospkg pexpect mujoco dm_control opencv-python matplotlib einops packaging h5py ipython<\/code><\/pre><\/div>\n\n\n\n<p>\u3053\u306eDockerfile\u3092\u30d3\u30eb\u30c9\u3059\u308b\u969b\u306b\u306f\u3001\u4ee5\u4e0b\u306e\u30b3\u30fc\u30c9\u3092\u4f7f\u7528\u3057\u307e\u3057\u3087\u3046\u3002\u4ee5\u4e0b\u306e\u30b3\u30fc\u30c9\u3067\u306f\u3001\u4f5c\u6210\u3055\u308c\u308b\u30a4\u30e1\u30fc\u30b8\u306bros-noetic-vnc-aloha\u3068\u3044\u3046\u30bf\u30b0\u3092\u4ed8\u4e0e\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>docker build -t ros-noetic-vnc-aloha ~\/aloha_docker<\/code><\/pre><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5<\/h2>\n\n\n\n<p>\u5148\u307b\u3069\u30d3\u30eb\u30c9\u3057\u305fDocker\u30a4\u30e1\u30fc\u30b8\u304b\u3089\u30b3\u30f3\u30c6\u30ca\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u3001docker run\u30b3\u30de\u30f3\u30c9\u3067\u884c\u3044\u307e\u3059\u3002\u305d\u306e\u969b\u306b\u3001\u30eb\u30fc\u30c8\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b~\/aloha\/datasets\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3057\u3001\u30b3\u30f3\u30c6\u30ca\u306b\u30de\u30a6\u30f3\u30c8\u3057\u307e\u3059\u3002\u5148\u307b\u3069\u8efd\u304f\u89e6\u308c\u307e\u3057\u305f\u304c\u3001\u53ce\u96c6\u3057\u305f\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u306f\u5168\u3066\u3053\u306e~\/aloha\/datasets\u30d5\u30a9\u30eb\u30c0\u306e\u4e2d\u306b\u4fdd\u5b58\u3055\u308c\u307e\u3059\u3002\u307e\u3060\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3057\u3066\u3044\u306a\u3044\u3068\u601d\u3044\u307e\u3059\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u3001\u30db\u30b9\u30c8PC\u306b~\/aloha\/datasets\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>mkdir -p ~\/aloha\/datasets<\/code><\/pre><\/div>\n\n\n\n<p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u3001\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>docker run -it -p 6080:80 --privileged --gpus all --volume ~\/aloha\/datasets:\/datasets --volume \/dev:\/dev --shm-size=512m ros-noetic-vnc-aloha<\/code><\/pre><\/div>\n\n\n\n<p>\u30d6\u30e9\u30a6\u30b6\u304b\u3089http:\/\/127.0.0.1:6080\u306b\u30a2\u30af\u30bb\u30b9\u3057\u3001\u7121\u4e8b\u3001\u4e0b\u56f3\u306e\u3088\u3046\u306a\u30ea\u30e2\u30fc\u30c8\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u304c\u8d77\u52d5\u3059\u308c\u3070\u554f\u984c\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" width=\"1024\" height=\"640\" src=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-12-1024x640.png\" alt=\"\" class=\"wp-image-9939\" srcset=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-12-1024x640.png 1024w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-12-300x188.png 300w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-12-768x480.png 768w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-12-1536x960.png 1536w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-12.png 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u30ea\u30fc\u30c0\u30fc\u30d5\u30a9\u30ed\u30ef\u30fc\u306b\u3088\u308b\u64cd\u4f5c\u5b9f\u9a13<\/h2>\n\n\n\n<p>\u3067\u306f\u3001\u307e\u305a\u306f\u30ea\u30fc\u30c0\u30fc\u30d5\u30a9\u30ed\u30ef\u30fc\u306b\u3088\u308b\u64cd\u4f5c\u3092\u8a66\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002ALOHA\u304cPC\u306b\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u305f\u3046\u3048\u3067\u3001\u4ee5\u4e0b\u306e\u56f3\u306e\u3088\u3046\u306b3\u3064\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u3044\u3066\u4e0b\u3055\u3044\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" width=\"1024\" height=\"640\" src=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/01\/Screenshot-from-2024-01-28-20-06-21-1024x640.png\" alt=\"\" class=\"wp-image-9845\" srcset=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/01\/Screenshot-from-2024-01-28-20-06-21-1024x640.png 1024w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/01\/Screenshot-from-2024-01-28-20-06-21-300x188.png 300w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/01\/Screenshot-from-2024-01-28-20-06-21-768x480.png 768w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/01\/Screenshot-from-2024-01-28-20-06-21-1536x960.png 1536w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/01\/Screenshot-from-2024-01-28-20-06-21.png 1920w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u305d\u3057\u3066\u3001\u305d\u308c\u305e\u308c\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u4ee5\u4e0b\u3092\u5165\u529b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code># 1\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\nsource \/opt\/ros\/noetic\/setup.sh && source ~\/interbotix_ws\/devel\/setup.sh\nroslaunch aloha 4arms_teleop.launch\n\n# 2\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\ncd ~\/interbotix_ws\/src\/aloha\/aloha_scripts\npython3 one_side_teleop.py right\n\n# 3\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\ncd ~\/interbotix_ws\/src\/aloha\/aloha_scripts\npython3 one_side_teleop.py left<\/code><\/pre><\/div>\n\n\n\n<p>\u3059\u308b\u3068\u3001\u30ea\u30fc\u30c0\u30fc\u30a2\u30fc\u30e0\u3068\u30d5\u30a9\u30ed\u30ef\u30fc\u30a2\u30fc\u30e0\u304c\u81ea\u52d5\u3067\u6301\u3061\u4e0a\u304c\u308a\u307e\u3059\u3002\u30ea\u30fc\u30c0\u30fc\u30a2\u30fc\u30e0\u306e\u30b0\u30ea\u30c3\u30d1\u30fc\u3092\u9589\u3058\u308b\u3068\u64cd\u4f5c\u3092\u958b\u59cb\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u306eX\u306b\u6295\u7a3f\u3055\u308c\u305f\u52d5\u753b\u306f\u3001\u30c6\u30ec\u30aa\u30da\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u5b9f\u65bd\u3057\u3066\u3044\u308b\u69d8\u5b50\u3067\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-rich is-provider-twitter wp-block-embed-twitter\"><div class=\"wp-block-embed__wrapper\">\n<blockquote class=\"twitter-tweet\" data-width=\"550\" data-dnt=\"true\"><p lang=\"ja\" dir=\"ltr\">\u30ec\u30a2\u30be\u30f3HI\u7814\u3067\u306f\u3001\u97f3\u58f0\u60c5\u5831\u3084\u753b\u50cf\u60c5\u5831\u306b\u52a0\u3048\u3066\u30ed\u30dc\u30c3\u30c8\u5236\u5fa1\u60c5\u5831\u3092\u542b\u3081\u305f\u30de\u30eb\u30c1\u30e2\u30fc\u30c0\u30eb\u30c7\u30fc\u30bf\u3092\u7684\u78ba\u306b\u51e6\u7406\u3067\u304d\u308b\u57fa\u76e4\u30e2\u30c7\u30eb\u3092\u7814\u7a76\u958b\u767a\u3057\u3001<br>\u9ad8\u5ea6\u304b\u3064\u81ea\u7136\u306a\u30d2\u30e5\u30fc\u30de\u30f3\u30a4\u30f3\u30bf\u30e9\u30af\u30b7\u30e7\u30f3\u6280\u8853\u306e\u5b9f\u73fe\u3092\u76ee\u6307\u3057\u3066\u3044\u307e\u3059\u3002<br>\u3053\u306e\u30c6\u30fc\u30de\u3092\u4e00\u7dd2\u306b\u63a2\u6c42\u3059\u308b\u7814\u7a76\u54e1\u3084\u30d1\u30fc\u30c8\u30ca\u30fc\u4f01\u696d\u3092\u52df\u96c6\u3057\u3066\u3044\u307e\u3059!<br>DM\u958b\u653e\u3057\u3066\u307e\u3059 <a href=\"https:\/\/t.co\/TZUn1GIBdR\">pic.twitter.com\/TZUn1GIBdR<\/a><\/p>&mdash; REAZON \u30d2\u30e5\u30fc\u30de\u30f3\u30a4\u30f3\u30bf\u30e9\u30af\u30b7\u30e7\u30f3\u7814\u7a76\u6240 (@REAZON_HI_Lab) <a href=\"https:\/\/twitter.com\/REAZON_HI_Lab\/status\/1758031208578179580?ref_src=twsrc%5Etfw\">February 15, 2024<\/a><\/blockquote><script async src=\"https:\/\/platform.twitter.com\/widgets.js\" charset=\"utf-8\"><\/script>\n<\/div><\/figure>\n\n\n\n<p>\u203b\u672c\u6765\u3001ALOHA\u306e\u5b9f\u9a13\u6a5f\u306f\u3001\u30ea\u30fc\u30c0\u30fc\u30a2\u30fc\u30e0\u306e\u5404\u95a2\u7bc0\u3092\u4e0a\u90e8\u304b\u3089\u30b4\u30e0\u3067\u540a\u308b\u3059\u306e\u3067\u3059\u304c\u3001\u3053\u3053\u3067\u306f\u4fbf\u5b9c\u4e0a\u3001\u4e0a\u90e8\u304b\u3089\u540a\u308b\u3057\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u306e\u53ce\u96c6\u65b9\u6cd5<\/h2>\n\n\n\n<p>\u30ea\u30fc\u30c0\u30fc\u30d5\u30a9\u30ed\u30ef\u30fc\u306b\u3088\u308b\u5236\u5fa1\u304c\u78ba\u8a8d\u3067\u304d\u305f\u3089\u3001\u6b21\u306fACT\u3067\u6a21\u5023\u5b66\u7fd2\u3092\u3059\u308b\u305f\u3081\u306e\u6e96\u5099\u3068\u3057\u3066\u3001\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u3092\u53ce\u96c6\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">constants.py\u306b\u30bf\u30b9\u30af\u306e\u7a2e\u985e\u3092\u8a18\u8f09<\/h3>\n\n\n\n<p>\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u3092\u53ce\u96c6\u3059\u308b\u524d\u306b\u3001\u3053\u308c\u304b\u3089\u53ce\u96c6\u3059\u308b\u30c7\u30fc\u30bf\u306e\u30bf\u30b9\u30af\u5185\u5bb9\u306b\u3064\u3044\u3066\u3001aloha\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u4e2d\u306b\u3042\u308bconstants.py\u306b\u8ffd\u8a18\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u30c7\u30d5\u30a9\u30eb\u30c8\u3060\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3001aloha_wear_shoe\u306e\u307f\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>TASK_CONFIGS = {\n    'aloha_wear_shoe':{\n        'dataset_dir': DATA_DIR + '\/aloha_wear_shoe',\n        'num_episodes': 50,\n        'episode_len': 1000,\n        'camera_names': &#091;'cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist']\n    },\n}<\/code><\/pre>\n\n\n\n<p>\u3053\u3053\u306b\u3001\u53ce\u96c6\u3057\u305f\u3044\u30c7\u30fc\u30bf\u306e\u30bf\u30b9\u30af\u306b\u3064\u3044\u3066\u306e\u60c5\u5831\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002\uff08\u3042\u307e\u308a\u826f\u3044\u4f8b\u3067\u306f\u306a\u3044\u3067\u3059\u304c\uff09\u4f8b\u3048\u3070\u3001\u52d5\u4f5c\u30c6\u30b9\u30c8\uff08operation_test\uff09\u306a\u3089\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3057\u3066\u65e2\u5b58\u306e\u30bf\u30b9\u30af\u30bb\u30c3\u30c8\u306b\u8ffd\u52a0\u3059\u308b\u3053\u3068\u304c\u8003\u3048\u3089\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>TASK_CONFIGS = {\n    'aloha_wear_shoe':{\n        'dataset_dir': DATA_DIR + '\/aloha_wear_shoe',\n        'num_episodes': 50,\n        'episode_len': 1000,\n        'camera_names': &#091;'cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist']\n    },\n    'operation_test':{\n        'dataset_dir': DATA_DIR + '\/operation_test',\n        'num_episodes': 50,\n        'episode_len': 1000,\n        'camera_names': &#091;'cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist']\n    },\n}<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u306e\u53ce\u96c6<\/h3>\n\n\n\n<p>\u30c7\u30fc\u30bf\u306e\u53ce\u96c6\u306frecord_episoeds.py\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u884c\u3044\u307e\u3059\u3002\u305d\u306e\u969b\u306b\u306f\u3001\u30bf\u30b9\u30af\u306e\u540d\u524d\u3068\u3001\u30a8\u30d4\u30bd\u30fc\u30c9\u306e\u756a\u53f7\u3092\u6307\u5b9a\u3057\u307e\u3059\u3002\u4ee5\u4e0b\u306f\u3001\u5148\u7a0bconstants.py\u306b\u5b9a\u7fa9\u3057\u305foperation_test\u30bf\u30b9\u30af\u306b\u304a\u3051\u308b\u30a8\u30d4\u30bd\u30fc\u30c90\u756a\u76ee\u306e\u53ce\u96c6\u3092\u884c\u3046\u5834\u5408\u306e\u4f8b\u3067\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>python3 record_episodes.py --task_name operation_test --episode_idx 0<\/code><\/pre><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">\u53ce\u96c6\u3057\u305f\u30a8\u30d4\u30bd\u30fc\u30c9\u30c7\u30fc\u30bf\u304b\u3089Web\u30ab\u30e1\u30e9\u306e\u6620\u50cf\u3092\u751f\u6210<\/h3>\n\n\n\n<p>Web\u30ab\u30e1\u30e9\u304b\u3089\u53ce\u96c6\u3055\u308c\u305f\u6620\u50cf\u304c\u5b66\u7fd2\u306b\u9069\u3057\u3066\u3044\u308b\u304b\u3092\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u5f15\u6570\u306edataset_dir\u306f\u7701\u7565\u3067\u304d\u306a\u3044\u306e\u304c\u3061\u3087\u3063\u3068\u9762\u5012\u3067\u3059\u304c\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>python3 visualize_episodes.py --dataset_dir \/datasets\/operation_test --episode_idx 0<\/code><\/pre><\/div>\n\n\n\n<p>\u3053\u308c\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u3053\u306e\u30a8\u30d4\u30bd\u30fc\u30c9\u306e\u5b9f\u884c\u6642\u306b\u64ae\u5f71\u3055\u308c\u305f\uff14\u3064\u306e\u30ab\u30e1\u30e9\u304b\u3089\u306e\u6620\u50cf\u304c\uff11\u3064\u306e\u6620\u50cf\u306b\u307e\u3068\u3081\u3089\u308c\u3066\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u51fa\u529b\u3055\u308c\u307e\u3059\u3002\u5de6\u304b\u3089\u9806\u756a\u306b\u3001\u30c8\u30c3\u30d7\u30d3\u30e5\u30fc\u3001\u5de6\u5074\u30a2\u30fc\u30e0\u304b\u3089\u306e\u30d3\u30e5\u30fc\u3001\u30dc\u30c8\u30e0\u30d3\u30e5\u30fc\u3001\u53f3\u5074\u30a2\u30fc\u30e0\u304b\u3089\u306e\u30d3\u30e5\u30fc\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u4e00\u756a\u5de6\u5074\u306e\u6620\u50cf\u306b\u6ce8\u76ee\u3057\u3066\u3044\u305f\u3060\u304d\u305f\u3044\u306e\u3067\u3059\u304c\u3001\u30a2\u30fc\u30e0\u304c\u6620\u3063\u3066\u3044\u307e\u305b\u3093\u3002\u3064\u307e\u308a\u3001Web\u30ab\u30e1\u30e9\u306e\u89d2\u5ea6\u304c\u9069\u5207\u3067\u306a\u3044\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002\u3053\u306e\u3088\u3046\u306a\u5834\u5408\u306f\u3001<strong>\u4e0a\u306b\u8a2d\u7f6e\u3057\u305fWeb\u30ab\u30e1\u30e9\u306e\u89d2\u5ea6\u3092\u8abf\u7bc0\u3057\u3001\u30d5\u30a9\u30ed\u30ef\u30fc\u306e\u30a2\u30fc\u30e0\u30ed\u30dc\u30c3\u30c8\u304c\u6b63\u3057\u304f\u6620\u308b\u3088\u3046\u306b<\/strong>\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/episode_0_video.mov\"><\/video><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u52d5\u4f5c\u306e\u518d\u751f<\/h3>\n\n\n\n<p>\u4ee5\u4e0b\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u53ce\u96c6\u3057\u305f\u52d5\u4f5c\u304c\u5b9f\u6a5f\u3067\u518d\u751f\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>python3 replay_episodes.py --dataset_dir \/datasets\/operation_test --episode_idx 0<\/code><\/pre><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">ACT\u306b\u3088\u308b\u6a21\u5023\u5b66\u7fd2<\/h2>\n\n\n\n<p>\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u304d\u3001<code>nvidia-smi<\/code>\u3092\u5b9f\u884c\u3057\u3001GPU\u304c\u4f7f\u7528\u3067\u304d\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002\u554f\u984c\u306a\u304f\u5b9f\u884c\u3067\u304d\u308b\u306e\u3067\u3042\u308c\u3070\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306bGPU\u306e\u60c5\u5831\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img decoding=\"async\" width=\"1024\" height=\"621\" src=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-6-1024x621.png\" alt=\"\" class=\"wp-image-9909\" srcset=\"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-6-1024x621.png 1024w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-6-300x182.png 300w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-6-768x466.png 768w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-6-1536x931.png 1536w, https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-6.png 1851w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/div>\n\n\n<h3 class=\"wp-block-heading\">\u5341\u5206\u306a\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u306e\u53ce\u96c6<\/h3>\n\n\n\n<p>\u5148\u307b\u3069\u3001\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u306e\u53ce\u96c6\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8a18\u8f09\u3057\u307e\u3057\u305f\u3002ACT\u3067\u6a21\u5023\u5b66\u7fd2\u3057\u3001\u9ad8\u3044\u7cbe\u5ea6\u3092\u3067\u52d5\u4f5c\u3092\u7372\u5f97\u3059\u308b\u306b\u306f\u3001\u305d\u308c\u306a\u308a\u306b\u6ca2\u5c71\u306e\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u304c\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059\u306e\u3067\u3001\u9069\u5b9c\u53ce\u96c6\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001\u30a8\u30e9\u30fc\u304c\u7121\u304f\u5b66\u7fd2\u3067\u304d\u308b\u3068\u3053\u308d\u307e\u3067\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u76ee\u7684\u3067\u3059\u306e\u3067\u3001\u7bb1\u304b\u3089\u30b5\u30fc\u30dc\u3092\u53d6\u308a\u51fa\u3059\u52d5\u4f5c\u309210\u30a8\u30d4\u30bd\u30fc\u30c9\u3060\u3051\u53ce\u96c6\u3057\u3066\u307f\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u6a21\u5023\u5b66\u7fd2\u306e\u5b9f\u884c<\/h3>\n\n\n\n<p>\u6a21\u5023\u5b66\u7fd2\u3092\u3059\u308b\u306b\u306f\u4ee5\u4e0b\u306e\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>&lt;ckpt dir&gt;\u306b\u306f\u5b66\u7fd2\u6e08\u307f\u30e2\u30c7\u30eb\u3092\u4fdd\u5b58\u3059\u308b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u6307\u5b9a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>cd ~\/act\npython3 imitate_episodes.py \\\n--task_name operation_test \\\n--ckpt_dir &lt;ckpt dir&gt; \\\n--policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 512 --batch_size 8 --dim_feedforward 3200 \\\n--num_epochs 2000  --lr 1e-5 \\\n--seed 0<\/code><\/pre><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">\u5b66\u7fd2\u5f8c\u306e\u30e2\u30c7\u30eb\u306b\u3088\u308b\u5b9f\u6a5f\u306e\u52d5\u4f5c<\/h3>\n\n\n\n<p>\u30a8\u30e9\u30fc\u304c\u7121\u304f\u5b66\u7fd2\u3092\u7d42\u4e86\u3067\u304d\u305f\u3089\u3001\u5b9f\u6a5f\u3067\u52d5\u4f5c\u3092\u518d\u73fe\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p>\u518d\u73fe\u3059\u308b\u3068\u304d\u306f\u3001\u5148\u307b\u3069\u6a21\u5023\u5b66\u7fd2\u3092\u884c\u3063\u305f\u6642\u306b\u5b9f\u884c\u3057\u305fimitate_episodes.py\u306e\u5f15\u6570\u306b\u3001--eval\u3092\u8ffd\u52a0\u3059\u308b\u3060\u3051\u3067\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>cd ~\/act\nexport PYTHONPATH=&quot;${PYTHONPATH}:\/root\/interbotix_ws\/src\/aloha\/aloha_scripts&quot;\npython3 imitate_episodes.py \\\n--task_name operation_test \\\n--ckpt_dir &lt;ckpt dir&gt; \\\n--policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 512 --batch_size 8 --dim_feedforward 3200 \\\n--num_epochs 2000  --lr 1e-5 \\\n--seed 0 \\\n--eval<\/code><\/pre><\/div>\n\n\n\n<p>\u53ce\u96c6\u3057\u305f\u30a8\u30ad\u30b9\u30d1\u30fc\u30c8\u30c7\u30fc\u30bf\u306e\u8cea\u304c\u9ad8\u304f\u306a\u304f\u3001\u91cf\u304c\u5c11\u306a\u3044\u306e\u3067\u3001\u52d5\u4f5c\u306f\u5909\u306a\u611f\u3058\u3067\u3059\u306d\uff08\u7b11\uff09\u3002\u305d\u308c\u3068\u3001\u30a2\u30fc\u30e0\u304c\u6fc0\u3057\u304f\u632f\u52d5\u3057\u3066\u3044\u308b\u306e\u3067\u30ab\u30e1\u30e9\u304c\u63fa\u308c\u3066\u307e\u3059\uff08\u7b11\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-embed aligncenter is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"\u5b66\u7fd2\u6e08\u307f\u30e2\u30c7\u30eb\u3092\u9069\u7528\u3057\u305f\u3068\u304d\u306e\u52d5\u4f5c\uff08\u52d5\u4f5c\u78ba\u8a8d\u306e\u307f\uff09\" width=\"974\" height=\"548\" src=\"https:\/\/www.youtube.com\/embed\/OopJM3L8no8?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u5c0f\u578b\u306e\u30da\u30c3\u30c8\u30dc\u30c8\u30eb\u306e\u30ad\u30e3\u30c3\u30d7\u3092\u958b\u3051\u308b\u52d5\u4f5c<\/h3>\n\n\n\n<p>\u5c0f\u578b\u306e\u30da\u30c3\u30c8\u30dc\u30c8\u30eb\u306e\u30ad\u30e3\u30c3\u30d7\u3092\u958b\u3051\u308b\u52d5\u4f5c\u3092\u300150\u30a8\u30d4\u30bd\u30fc\u30c9\u3060\u3051\u53ce\u96c6\u3057\u3066\u3001ACT\u3092\u5b66\u7fd2\u3055\u305b\u3066\u307f\u305f\u3068\u3053\u308d\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u7d50\u679c\u304c\u5f97\u3089\u308c\u307e\u3057\u305f\u3002\u3068\u3066\u3082\u30b9\u30e0\u30fc\u30ba\u306b\u84cb\u3092\u958b\u3051\u3089\u308c\u3066\u3044\u308b\u3053\u3068\u304c\u5206\u304b\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-rich is-provider-twitter wp-block-embed-twitter\"><div class=\"wp-block-embed__wrapper\">\n<blockquote class=\"twitter-tweet\" data-width=\"550\" data-dnt=\"true\"><p lang=\"ja\" dir=\"ltr\">\u30da\u30c3\u30c8\u30dc\u30c8\u30eb\u306e\u84cb\u958b\u3051\u3001\u4eba\u9593\u306f\u7121\u610f\u8b58\u3067\u3059\u304c\u3001\u30ed\u30dc\u30c3\u30c8\u306b\u306f\u529b\u306e\u304b\u3051\u5177\u5408\u3084\u3064\u307e\u307f\u5177\u5408\u304c\u96e3\u3057\u3044\u2026\u2026<br>\u4eba\u9593\u306e\u64cd\u4f5c\u304b\u3089\u5b66\u7fd2\u3059\u308b\u6a21\u5023\u5b66\u7fd2\u306e\u7d50\u679c\ud83c\udf34ALOHA\u3068\u3044\u3046\u53cc\u8155\u9060\u9694\u64cd\u4f5c\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u304c\u3001\u4eba\u9593\u306e\u64cd\u4f5c\u306a\u3057\u3067\u4e0a\u624b\u306b\u84cb\u3092\u958b\u3051\u3066\u307e\u3059\ud83c\udfc4<br>ALOHA\u3067\u306e\u6a21\u5023\u5b66\u7fd2\u306e\u624b\u9806\u306f\u30d6\u30ed\u30b0\u3067\u7d39\u4ecb\u3057\u3066\u3044\u307e\u3059<a href=\"https:\/\/t.co\/Sqfb50xasx\">https:\/\/t.co\/Sqfb50xasx<\/a> <a href=\"https:\/\/t.co\/g5P5K2qFpa\">pic.twitter.com\/g5P5K2qFpa<\/a><\/p>&mdash; REAZON \u30d2\u30e5\u30fc\u30de\u30f3\u30a4\u30f3\u30bf\u30e9\u30af\u30b7\u30e7\u30f3\u7814\u7a76\u6240 (@REAZON_HI_Lab) <a href=\"https:\/\/twitter.com\/REAZON_HI_Lab\/status\/1768137441217794391?ref_src=twsrc%5Etfw\">March 14, 2024<\/a><\/blockquote><script async src=\"https:\/\/platform.twitter.com\/widgets.js\" charset=\"utf-8\"><\/script>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u3055\u3044\u3054\u306b<\/h2>\n\n\n\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001ALOHA\u3068ACT\u3092\u7528\u3044\u305f\u6a21\u5023\u5b66\u7fd2\u5b9f\u9a13\u306e\u518d\u73fe\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3057\u305f\u3002\u30a8\u30e9\u30fc\u7121\u304f\u6700\u5f8c\u307e\u3067\u5b9f\u884c\u3067\u304d\u307e\u3057\u305f\u3067\u3057\u3087\u3046\u304b\uff1f<\/p>\n\n\n\n<p>\u672c\u8a18\u4e8b\u57f7\u7b46\u6642\u70b9\u3067\u306f\u3001\u307e\u3060\u52d5\u4f5c\u306e\u518d\u73fe\u304c\u3067\u304d\u305f\u3060\u3051\u3067\u3001\u6280\u8853\u306e\u672c\u8cea\u7684\u306a\u90e8\u5206\u306b\u3075\u308c\u3089\u308c\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u3088\u308a\u6df1\u3044\u90e8\u5206\u306b\u305f\u3069\u308a\u7740\u3051\u308b\u3088\u3046\u3001\u5b9f\u9a13\u3092\u884c\u3063\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u6700\u5f8c\u307e\u3067\u304a\u8aad\u307f\u3044\u305f\u3060\u304d\u3042\u308a\u304c\u3068\u3046\u3054\u3056\u3044\u307e\u3057\u305f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u306f\u3058\u3081\u306b \u672c\u8a18\u4e8b\u3067\u306f\u3001RSS 2023\u3067\u767a\u8868\u3055\u308c\u305f\u8ad6\u6587\u300cLearning Fine-Grained Bimanual Manipulation with Low-Cost Hardware\u300d\u3067\u7d39\u4ecb\u3055\u308c &#8230; <\/p>\n","protected":false},"author":1,"featured_media":9928,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_vk_print_noindex":"","sitemap_hide":"","_veu_custom_css":"","veu_display_promotion_alert":"common","vkexunit_cta_each_option":"","_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[212],"tags":[],"class_list":["post-9692","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-reazon"],"veu_head_title_object":{"title":"","add_site_title":""},"jetpack_featured_media_url":"https:\/\/developers.agirobots.com\/jp\/wp-content\/uploads\/2024\/02\/image-9.png","jetpack-related-posts":[],"jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/posts\/9692","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/comments?post=9692"}],"version-history":[{"count":78,"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/posts\/9692\/revisions"}],"predecessor-version":[{"id":10295,"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/posts\/9692\/revisions\/10295"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/media\/9928"}],"wp:attachment":[{"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/media?parent=9692"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/categories?post=9692"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/developers.agirobots.com\/jp\/wp-json\/wp\/v2\/tags?post=9692"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}