network-configuration.md

Choose the network layout before running on hardware. The important decision is where the sim2real processes run and which network carries the Pico stream.

Wired Laptop Deployment

Use this layout when the laptop runs all code. The laptop talks to G1 over Ethernet and talks to Pico over the lab Wi-Fi.

flowchart LR
  subgraph Runtime[" "]
    direction TB
    G1["G1"]
    Laptop["Laptop<br/><code>code runs here</code>"]
  end
  LabWifi["Lab Wi-Fi"]
  Pico["Pico"]

  G1 <-- "Ethernet / DDS" --> Laptop
  Laptop <-- "Wi-Fi" --> LabWifi
  LabWifi <-- "Wi-Fi" --> Pico

  style Runtime fill:transparent,stroke:transparent,color:transparent

Run scripts/real_bridge.py on the laptop and point it at the Ethernet interface connected to G1:

uv run scripts/real_bridge.py --robot g1 --interface <laptop_ethernet_interface>

Use ip -br link to find the interface name. Pico should stay on the lab Wi-Fi so the laptop and Pico can communicate through the lab network.

External Wi-Fi Deployment

Use this layout when all runtime code runs on the onboard Orin, and both the Orin and laptop join the lab Wi-Fi. The laptop is only the operator console over SSH. Pico also joins the lab Wi-Fi and communicates with the Orin through that network.

flowchart LR
  G1Orin["G1 onboard Orin<br/><code>code runs here</code>"]
  LabWifi["Lab Wi-Fi"]
  subgraph Clients[" "]
    direction TB
    Pico["Pico"]
    Laptop["Laptop<br/>SSH console"]
  end

  G1Orin <-- "Wi-Fi" --> LabWifi
  LabWifi <-- "Wi-Fi" --> Pico
  LabWifi <-- "Wi-Fi / SSH" --> Laptop

  style Clients fill:transparent,stroke:transparent,color:transparent

SSH from the laptop into the Orin, then run the deployment commands on the Orin. Use this mode when the lab Wi-Fi is stable enough for Pico traffic and SSH control.

Orin Wi-Fi Deployment

Use this layout when all runtime code runs on the onboard Orin, and the Orin provides its own hotspot through an external Wi-Fi adapter. The laptop and Pico both connect directly to that hotspot.

flowchart LR
  G1Orin["G1 onboard Orin<br/><code>code runs here</code>"]
  Hotspot["Orin hotspot"]
  subgraph Clients[" "]
    direction TB
    Pico["Pico"]
    Laptop["Laptop<br/>SSH console"]
  end

  G1Orin --- Hotspot
  Hotspot <-- "Wi-Fi" --> Pico
  Hotspot <-- "Wi-Fi / SSH" --> Laptop

  style Clients fill:transparent,stroke:transparent,color:transparent

Create the hotspot on the Orin with the setup script:

bash scripts/setup/setup_g1_hotspot.sh \
  --interface wlan1 \
  --upstream wlan0 \
  --ssid hdmi-deploy \
  --password hdmi1234

The defaults create the hotspot on wlan1 with 10.42.7.1/24 and route client traffic through wlan0. Connect the laptop and Pico to the hotspot. Pico and Orin then communicate directly through the Orin Wi-Fi adapter instead of the lab Wi-Fi.