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Anthony Jiang edited this page Oct 18, 2023 · 2 revisions

Unitree PCs

Screenshot 2023-10-18 at 21 08 46

Picture 1. Unitree network configuration

The Unitree has four user-accessible PCs, including the Raspberry Pi 4 and the three Jetson Nanos (Nano 1, 2 and 3).

Raspberry Pi 4 runs the rosmaster. Nano 1 hosts the head camera. Nano 2 hosts the side cameras. Nano 3 hosts the bottom camera and runs the SLAM and AI human recognition software.

The user name for these PCs is unitree and the login password is 123.

Keyboard and mouse

The Unitree GO1 provides keyboard and mouse access for three of its four built-in PCs.

Screenshot 2023-10-18 at 21 00 03

Picture 2 Ports on the back of a Unitree GO 1

Note: Ignore the Nano 1 and 2 in this picture, as they are confused with the numbering in the first picture.

1 and 2 are for the 192.168.123.14 Jetson Nano PC, i.e. Nano 2 in Picture 1. 3 and 4 are for the 192.168.123.15 Jetson Nano PC with the bottom cameras, known as the main Nano. 5 and 6 are for the 192.168.123.161 Raspberry Pi 4.

Ethernet

Plug an ethernet cable into Port 7 as shown in Picture 2 then set your IP address to e.g. 192.168.123.170.

Wi-Fi

  1. Join the Unitree_GO_XXX wifi. The password is 888888888.

Note: The Wi-Fi may take 1-2 minutes to appear after the power button on the battery is pressed.

  1. Set your IP address to e.g. 192.168.12.170:
sudo ifconfig <interface_name(e.g. wlan0)> 192.168.12.170
  1. You should be able to ping 192.168.12.1:
ping 192.168.12.1
  1. Add the correct IP route:
sudo route add -net 192.168.123.0 netmask 255.255.255.0 gw 192.168.12.1
  1. Now, the PC should be able to communicate with the Nanos. Test the connection:
ping 192.168.123.15
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