B1 Manuals
===========

.. image:: media/gifs/b1_goaround.gif
   :width: 100%
   :align: center

.. important:: 

   The following text are hyperlinks to demonstratory videos. Click on them to get redirected to the websites.
  
- `B1 User Manual <https://my.hidrive.com/lnk/HICVykJC>`__
- `B1 Unitree Github <https://github.com/unitreerobotics/unitree_ros>`__
- `Manufacturers Documentation (Requires Translation Plugin) <https://www.yuque.com/ironfatty/nly1un/fscioc>`__

.. attention:: 

   It is highly recommended to view the quick start manual and user manual
   before using the robot to ensure safe and correct operation.

B1 Apps
========

- `B1 iOS <https://testflight.apple.com/join/KraKgqam>`__
- `B1 Android <https://unitreeapp.oss-cn-beijing.aliyuncs.com/Go1_App.zip>`__

In the app, you would have to go to the settings option -> Dogs -> and select B1.

B1 Network
==========

For network setup please connect the ethernet cable that is provided with the B1 from the B1 to your computer. After that set-up a static 
connection as explained below.

Network-IPs
-----------

The B1 has the following networks as of `21-Mar-2024` and may vary in future versions, the following table shows the networks

.. table:: B1 network devices

   =================     ================  ========
   Device                Network Address   Password
   =================     ================  ========
   B1-MCU                192.168.12.1      123
   =================     ================  ========

Network via Hot-spot
--------------------

Once the apps are installed users can connect to the native hot-spot of B1 or through the Ethernet port to access its on-board computers. 
B1 has the network address  range of ``192.168.12.*``. The SSID of the Wifi network  of B1's hot-spot begins
with **UnitreeRoboticsB1-###**, where the hash tags represent the B1's model number and the default password is 
**00000000** or 8 zeros. 

.. important:: 

   It is recommended to connect to the B1's 5G network for better connectivity.

Once connected to the WiFi network, one can access B1's app, web-control, and PCs.


.. code::

   ssh -X unitree@192.168.12.1

The password is **123**

B1 Basic Operations
====================

The basic operations for the B1 are provided in the User manual.

.. - `B1 Remote Control Operation <https://www.youtube.com/watch?v=RJuhsdB8rTc&list=PLGhHq8nB_7DWfHPrebqciLoCWMKQAO-6j&index=3>`__

Good to know commands:

- Walking: START 
- Prone position: L2+A (Press double times to go onto standing position)

.. note:: 

   Some features are bound to the version of the B1. 

.. - `B1 Web Control <https://www.youtube.com/watch?v=rh7l6hFhTyE&list=PLGhHq8nB_7DWfHPrebqciLoCWMKQAO-6j&index=6>`__

Once connected to the WiFi of the B1. You can access the B1 website by entering the following in the web addess bar ``192.168.12.1``.
The B1's Firmware version, motor temperature, vision, and control can all be accessed in here. 

B1 Leg Calibration
===================

- `B1 Calibration <https://my.hidrive.com/lnk/PebiCJueJ>`__

.. B1 External Power-Supply
.. =========================

.. - `B1 Power-supply <https://www.youtube.com/watch?v=J9qNIdaDams&list=PLGhHq8nB_7DWfHPrebqciLoCWMKQAO-6j&index=5>`__