network

⏱ 45s · ref

Where neon, the MCU, and your laptop all sit.

topology

flowchart LR
  subgraph LAN["🏠 your LAN · WiFi"]
    M["💻 Mac dev<br/>192.168.1.0/24"]
  end

  subgraph G1["🤖 Unitree G1"]
    direction TB
    J["🧠 Jetson Orin NX<br/>192.168.123.164<br/>runs neon agent"]
    C["⚙️ Main MCU<br/>192.168.123.161<br/>sport_mode · loco_service<br/>arm_action"]
    Motors["🦾 motors · arms<br/>🔊 audio · 💡 LEDs"]

    J -.->|"CycloneDDS multicast<br/>on eth0"| C
    C -->|"SPI bus"| Motors
  end

  M <-->|"SSH · WiFi"| J
  M <-->|"optional ethernet"| C

  classDef dev stroke:#cc5a3a,stroke-width:1.5px
  classDef robot stroke:#2e8b8b,stroke-width:1.5px
  class M dev
  class J,C,Motors robot

address plan

host	iface	ip	role
Jetson	eth0	192.168.123.164/24	our agent runs here
MCU	eth0	192.168.123.161/24	Unitree embedded — no SSH
Jetson	wlan0	DHCP on your LAN	optional WiFi for remote control
your Mac	en0 / en5	WiFi or static 192.168.123.100 via USB-C → RJ45	dev machine

Always use network_interface="eth0" in tools. It's the only interface that sees the motor bus.

connecting

SSH in

ssh unitree@192.168.123.164            # over ethernet (static route)

Default password: 123 (yes really).

change IP / move to WiFi

See scripts/change-ip.txt in the repo for the exact steps. Or manually:

ssh unitree@192.168.123.164
sudo nmcli dev wifi connect "YourSSID" password "YourPassword"

Note the new IP from hostname -I and update your SSH target.

mac ethernet setup (dev)

If you want to SSH from Mac over ethernet:

System Settings → Network → USB 10/100/1000 LAN →
  Configure IPv4: Manually
  IP:      192.168.123.100
  Subnet:  255.255.255.0
  Router:  (blank)

Don't assign .161 or .164 — those are the robot.

CycloneDDS

cat /home/unitree/cyclonedds_ws/cyclonedds.xml

Key settings:

• NetworkInterfaceAddress=eth0
• MaxMessageSize=65500
• Discovery ParticipantIndex=auto

Our tools read this from CYCLONEDDS_URI. env.sh sets it.

ports

Nothing exposed by default on the robot itself. When the compose stack runs:

port	service
8080	neon-dashboard (HTTPS · FastAPI telemetry + camera + chat UI)
8012 / 8013	WebXR teleop bridge (WSS / HTTPS) — only when running
N/A	Telegram uses long-poll (no inbound port)

troubleshooting

symptom	likely cause
all tools return rc=3104	eth0 down, wrong interface, or CYCLONEDDS_URI missing
no DDS topics listed	robot main controller is off, or you're on wrong interface
can ping .161 but can't SSH	correct — the MCU doesn't run sshd
SLAM / LiDAR silent	lidar not switched on; call g1_lidar_switch(on=True)

# sanity checks
ip link show eth0                           # state UP?
ping -c 3 192.168.123.161                  # MCU reachable?
echo $CYCLONEDDS_URI                        # env set?
python3 -c "from tools import g1_get_state; print(g1_get_state())"