How to enbale two bridged NICs in WSL?

Question

Basic Environment

1. Windows 11, using WSL2(ubuntu 18.04 x64) to work with a ROS application devopment.
2. And there is a native ubuntu 18.04 on my pc.
3. The AIO app needs to connect to 2 things, the artifactory service(on the internet) and the robot by a CAT-6 cable directly.
4. To connect to the robot from Ubuntu,
   1. the IP address of the NIC on PC which is directly connected to the robot must be 10.0.20.100
      1. the IP address of the robot must be 10.0.20.201
5. Unable to modify the AIO app
6. So there are 2 NICs in my computer, the WLAN NIC is connected to the internet while the LAN NIC is connected to the robot.

AIO app workflow

Step 1: Connect to the robot

Step 2: Connect to the artifactory service and pull a ROS bundle(includes the data collection app) to local disk

Step 3: Install the ROS bundle to the robot from local disk

Step 4: Send a command to the robot and start the ROS

Step 5: Send a command to the robot and start the data collection app on the robot

Step 6: Get data from the data collection app on the robot

Problem

the AIO app works well on native ubuntu, but it can't get any data on WSL Ubuntu.

I tried many network configations and the status are in the 2 tables below.

If we can use 2 NICs in bridged mode on WSL, there probably be a way to work.

However, I can't find any tutorial how to enbale 2 NICs in .wslconfig file.

So how to get it work? Thanks!

Profile	1	2	3	4	5	6	7
OS	Native Ubuntu 18.04 x64	WSL2 Ubuntu 18.04 x64	WSL2 Ubuntu 18.04 x64	WSL2 Ubuntu 18.04 x64	WSL2 Ubuntu 18.04 x64	WSL2 Ubuntu 18.04 x64	Hyper-V VM Ubuntu 18.04 x64
WSL Network Mode	N/A	NAT	NAT	mirrored	bridged	bridged	briged
LAN NIC on WSL	N/A	DHCP	10.0.20.100	10.0.20.100	10.0.20.100	N/A	10.0.20.100
LAN NIC on Windows	10.0.20.100	DHCP	10.0.20.101	10.0.20.100	10.0.20.101	N/A	10.0.20.101
WLAN NIC on WSL	N/A	N/A	N/A	DHCP	N/A	DHCP	DHCP
WLAN NIC on Windows	DHCP	N/A	N/A	DHCP	N/A	DHCP	DHCP
Comments		LAN NIC on WSL=Virtual NIC	LAN NIC on WSL=Virtual NIC	LAN NIC on WSL=Virtual NIC mirrored from windows	LAN NIC on WSL=Virtual NIC bridged to Windows LAN	LAN NIC on WSL=Virtual NIC bridged to Windows LAN	LAN NIC on WSL=Virtual NIC bridged to Windows LAN
			WLAN NIC on WSL=Virtual NIC mirrored from windows	WLAN NIC on WSL=Virtual NIC bridged to Windows WLAN	WLAN NIC on WSL=Virtual NIC bridged to Windows WLAN	WLAN NIC on WSL=Virtual NIC bridged to Windows WLAN

Step	Detail	Profile 1	Profile 2	Profile 3	Profile 4	Profile 5	Profile 6	Profile 7
1	Connect to the Robot	OK	OK	OK	OK	OK	OK	OK
2	Connect to the artifactory service and pull a ROS bundle(includes the data collection app) to local disk	OK	OK	OK	OK	No, but we can pull the bundle to local disk in advance	OK	OK
3	Install the ROS bundle to the robot from local disk	OK	Failed, due to wrong ip address	Failed, cannot be connected	OK	OK, use the bundle already saved to local disk	Failed, due to wrong ip address	OK
4	Send a command to the robot and start the OS	OK	N/A	N/A	OK	OK	N/A	OK
5	Send a command to the robot and start the data collection app on the robot	OK	N/A	N/A	OK	OK	N/A	OK
6	Get data from the data collection app on the robot	OK	N/A	N/A	Failed, can't get response from the robot	OK	N/A	OK just for only 1 second, but then can't get response from the robot
Additional test	Ping the robot from Ubuntu	OK	OK	Failed	OK	OK	Failed	OK