Appendix:
Network Addresses and Ports Reference Device IP Addresses
| Device | Baseline IP Address | Role & Remarks |
|---|---|---|
| Built-in Gateway | 192.168.127.1 | Internal router; management plane must NOT be exposed to the public network. |
| Orin | 192.168.127.10 | SSH, REST, and ROS 2 host. |
| S100 | 192.168.127.11; internal LiDAR side 192.168.158.15/24 | Chassis/LiDAR related; head & waist control should use the Orin /robot/command route; :8080 direct access is provided for reference only; customer development PCs do not need to configure the internal LiDAR subnet. |
| LiDAR | 192.168.158.98 | Internal UDP device; availability requires a positive /scan publication frequency and valid ranges data (heartbeat is auxiliary only). |
| Follower Left/Right Arms | .18 / .19 | Execution arm controllers. |
| Leader Left/Right Arms | .20 / .21 | Teleoperation input arms; unreachable status when powered off is expected/normal. |
Port Map
Note
- The port listening statuses only indicate the current runtime state of system services.
- For any port not explicitly listed and defined in the official interface chapters, calling it based solely on "physical connectivity" or "successful connection establishment" is strictly prohibited.
| Port | Current Role | Status | Scope & Boundary Constraints |
|---|---|---|---|
22 | SSH / SFTP / Tunnel | Customer Entry | Restrict source IPs; credentials delivered separately; verify host key fingerprints. |
80 | Teach Pendant Web | Customer Entry / Local Management | Trusted LAN only; subject to delivered features and account management policies. |
81 | Data Acquisition Edge Page | Listening / Platform Reference | Webpage presence does not imply platform binding or customer release approval. |
9091 | REST | Customer Entry | Does not guarantee production-grade authentication; strictly no direct public access. |
8080 (.18 / .19) | Gen-4 Controller JSON (L/R Follower Arms) | Vendor Protocol Entry | TCP/read-only version query passed; motion control must conform to V1.0.0.teleT8.1 protocol with independent stop/homing acceptance tests. |
8080 (.11) | S100 Head & Waist JSON | Reference Info | Port connectivity and message schema confirmed; head and waist motion control is provided via the Orin pass-through route; direct TCP is not offered as a formal access method. |
9002 / 9090 | WebSocket / Video Stream Preview | Reference Info | Restrict source IPs; use official protocols and published pages only. |
8090 | Customer Recording Bridge | Optional Customer Deployment | Defaults to loopback; remote binding requires TLS, ACL, and explicit authorization. |
8060 / 8888 / 9001 | Other Active Web / Service Ports | Internal / Pending | Missing closed-loop customer protocol and authentication; NOT to be used as invokable APIs. |
9675 / 9678 | OTA / Upload Related | Internal (High Risk) | Prohibits exploratory probing and public network exposure; accessible only via official upgrade/storage workflows. |
DDS 7400–Dynamic Ports | ROS 2 Discovery and Data | Middleware | Do not use a single fixed port to bypass Domain ID, multicast, firewall, and QoS acceptance verification. |