In folder esp-idf/examples/openthread, it contains following OpenThread examples:

• ot_cli is an OpenThread Command Line example, in addition to the features listed in OpenThread CLI, it supports some additional features such as TCP, UDP and Iperf over lwIP. It runs on an 802.15.4 SoC like ESP32-H2.

• ot_rcp is an OpenThread RCP example. It runs on an 802.15.4 SoC like ESP32-H2, to extend 802.15.4 radio.

• ot_br is an OpenThread Border Router example. It runs on a Wi-Fi SoC such as ESP32, ESP32-C3 and ESP32-S3. It needs an 802.15.4 SoC like ESP32-H2 running ot_rcp example to provide 802.15.4 radio.

The following is the relevant diagram :

• Three examples used in combination
  

• Thread border router

  

  The actual connection is as follows :
  

  Two SoCs are required to run this example:

  • An ESP32 series Wi-Fi SoC (ESP32, ESP32-C, ESP32-S, etc) loaded with this ot_br example.
  • An ESP32-H2 802.15.4 SoC loaded with ot_rcp example.