Lesson 0. Configure and test connection to Spot

Let's start establishing connection to the robot. Our goal is to get answers from Spot to our ping signals. We use Yggdrasil Network to expose Spot to the internet, that means we will need to configure Yggdrasil Network support on your computer first.

1. Yggdrasil Installation

Yggdrasil is an early-stage implementation of a fully end-to-end encrypted IPv6 network. Before startitng the lessons you need to install it on your computer.

For Linux:

Installation instructions here.

For MacOS:

Download .pkg file from here.

Locate the downloaded file in Finder. Right-click it and click Open. Step through the installer as usual.

For Windows:

Download .msi file for x64 system or for x32 system and run it with double click.

2. Open configuration file

You need to add a list of peers (public nodes) to configuration file so that you will be able to connect to Spot.

For MacOS and Linux:

For that, edit the yggdrasil.conf file with this command in a terminal:

sudo nano /etc/yggdrasil.conf

For Windows:

Run updateconfig.bat in C:/Program Files/Yggdrasil.

Then in C:/ProgramData/Yggdrasil open yggdrasil.conf with any text editor.

ProgramData is a hidden folder, so you need to show hidden data.

3. Write peers

In the file that you opened find line Peers: (it is at the beginning of the file) add 5-6 peers geografically near to you (write them inside the brackets). You can find list of available peers here or add peers from example below. Example in yggdrasil.conf:


Check if the peers online in Puplic Peers.

4. Save and close configuration file

For Linux and MacOS:

Press Ctrl+x, then press y to save changes and press Enter.

For Windows:

Save and close file.

5. Restart service

For Linux:

Then restart Yggdrasil using this command:

systemctl restart yggdrasil

For macOS:

Unload the service and run Yggdrasil with changed config file:

sudo launchctl unload /Library/LaunchDaemons/yggdrasil.plist
sudo yggdrasil -useconffile /etc/yggdrasil.conf

You will need to do that before every lesson.

For Windows:

Press win + r and type services.msc, find Yggdrasil service, open it and restart (press Stop and Start).


6. Check Connection

Check if Yggdrasil works well.

For that try to ping Spot address:

ping strelka.ygg.khassanov.xyz

To open terminal in Windows press Win+R, type cmd and press Enter.

On MacOS use ping6 instead of ping.

If you can't ping Spot or you had any errors during the Yggdrasil setup look in Troubleshooting page. If you can't find the solution there, please email spot@robonomics.network.

7. Create ssh key

You will connect to Spot via ssh, so you need to create ssh keys which you will use in booking lessons.

Run following command in the terminal:

ssh-keygen -t rsa

SSH Client is available by default only in Windows 10, so if you use older versions you need to install it. For example you can use PuTTY.

Remember the path to your key (by default it is /home/<user>/.ssh/id_rsa.pub or C:\Users\<user>\.ssh\id_rsa.pub).

← Try It Out Lesson 1. Emergency stop, initialization, body position control →