Node unable to connect problem

I set up my own private IPFS network, which has two different LAN nodes. One node is 192.168.200.167,
the other is 192.168.2.1, and these two nodes can not connect, “ipfs swarm connect” can not connect,
but can use the relay connection.However, I do not want to use the relay connection, is there any way to let the two nodes connect directly?