.. _power_on:

Powering-on
-----------

.. figure:: media/figures/h1_power_on.jpg
   :width: 35%
   :align: center

   **Battery Power Button**: Use the buttons on both batteries to power on the robot.

To power on the H1 robot, press the power button on **both batteries simultaneously** once, and then press and hold for **3 seconds** to start the robot.

The battery compartments are located beneath the **left arm** of the robot.

Similarly, to turn off the robot, press the power button on **both batteries simultaneously** once, and then press and hold for **3 seconds** to turn off the robot.

.. note::

   Please be cautious with battery consumption. Continuously monitor the battery levels. If any battery is depleted, the robot will fall.

.. _network_interface:

Network Interface
-----------------



Instructions for interfacing with the robot using **Ubuntu 20.04** and **ROS2 Foxy**. 

This procedure should be followed **after** successfully setting up and pairing with the H1 robot. Additionally, all of the H1’s functionality should be verified through the accompanying app before proceeding.

The **Ethernet port**, located beneath the right arm of the H1 (the fourth port from the top), can be used to establish communication via LAN. However, a **special adapter cable** is required, as a standard Ethernet cable cannot be inserted directly into the port.

.. list-table::
   :widths: 50 50
   :header-rows: 0
   :align: center

   * - .. figure:: media/figures/h1_ethernetport.jpg
         :width: 40%
         :align: center
         :alt: Brush Teleoperation
         :class: mbsrounded

         Port Location on H1 (Real Robot)
     - .. figure:: media/figures/h1_ethernet_port.png
         :width: 70%
         :align: center
         :alt: Port Location (Layout Diagram)
         :class: mbsrounded

         Port Location (Layout Diagram)

   * - .. figure:: media/figures/h1_ethernet_adapter.png
         :width: 40%
         :align: center
         :alt: Ethernet Adapter
         :class: mbsrounded

         Ethernet Adapter
     - .. figure:: media/figures/h1_ethernet_adapter_1.png
         :width: 100%
         :align: center
         :alt: Ethernet Adapter Cable Ends
         :class: mbsrounded

         Ethernet Adapter Cable Ends



Network Setup
=============

To configure the robot's network for the first time, you need to connect using a **LAN** cable.

To create a static connection on your **PC** (not on the robot), follow these steps in **Ubuntu**:

1. Go to **Settings** → **Network**, then click on the **+** button to create a new connection.
2. In the **IPv4** settings, change the connection type to **Manual**.
3. Set the **Address** to **192.168.123.51** and the **Netmask** to **24**.
4. Click **Save**, then restart your network.

After successfully connecting, check the host's local IP by typing the following command in the host PC's terminal:

.. code-block:: bash

   ifconfig

Now, ping the robot by entering:

.. code-block:: bash

   ping 192.168.123.162

.. code-block:: bash

   ping 192.168.123.164

To access the robot via SSH, use the following command:

.. code-block:: bash

   ssh -X unitree@192.168.123.162

.. code-block:: bash

   ssh -X unitree@192.168.123.164

The default password is:

.. code-block:: bash

   Unitree0408

IP Addresses
============

.. list-table::
   :header-rows: 1
   :widths: 20 20 15 15

   * - IP Address
     - Device
     - Username
     - Password
   * - 192.168.123.161
     - H1 MCU
     - x
     - x
   * - 192.168.123.164
     - H1 Auxiliary PC 2
     - unitree
     - Unitree0408
   * - 192.168.123.164:9000
     - H1 Webserver MBS
     - admin
     - mybotshop
   * - 192.168.123.165
     - H1 Nvidia BagPack
     - administrator
     - mybotshop
   * - 192.168.123.120
     - Mid360 Lidar
     - x
     - x
   * - 192.168.123.20
     - Ouster Lidar
     - x
     - x

.. note::
   Sometimes other networks can cause disruptions when connecting to the H1. It is best to have only your connection to the robot active and disable all others.