Your first session

Written for the Nori L2

The app steps apply to any Nori. Physical details — switch and button locations, the serial number's position — are L2. See Nori A3 if that's what you have.

Setting up and Driving

1. Power on the robot with the switch on the back. Expect the screen to light up and a chime to play. Booting up will take around 30s, at the end of which your Nori's eyes will show up.
2. First step is always to connect to Wifi: find it by tapping on Nori's face, navigating to Settings, Wifi, then wait as local networks are discovered. Select your one and enter the password.
3. Sign up/in on the Nori app, and pair the robot at the Pairing page, using your secret pair code and the serial number (found on the back of Nori's head just above the neck). You may also grant your Nori a nickname on this page.
4. Connect to your Nori on the landing page (Nori logo) or anywhere on the Remote Operation, Coding or Agent pages (connection persists within the app).
5. It may take a few seconds to connect. Once you see it light up green, check telemetry: you will see stats from the robot, its safety status, your connection, and more. Remember to take off any camera covers that your Nori may have been shipped with.
6. Drive it: the keyboard control panel is the easiest way to get started. Make sure you're focused on the page, and give it a try. Tweak sensitivity at any time to moderate the speed.
7. To stop, just disconnect at any time. After disconnecting for a while, Nori's arms will go limp to protect the motors.
8. Nori will automatically sleep after being left idle, and will be woken up by a tap of your finger on Nori's face, or by connecting via the app. Powering off is not necessary between sessions within a day or two, but prolonged sleeping can drain your battery.

Before motor control...

The robot has two different kinds of E-stop:

• The physical E-stop (the red button at the back) cuts electrical power to the motors only. The robot's computer and other non-motor systems stay powered. A raised arm can go limp and fall when motor power is removed. Restore motor power by twisting the button.
• The software E-stop, available in the app, on Nori's face, or through teleop.command("estop"), stops motion and latches, but leaves motor torque engaged (raised arms will not go limp).

In contrast, the master switch controls power to the entire robot.

Clearing a software E-stop is deliberate and can only be done via: reset_latch. Releasing the physical E-stop is required to restore motor power; a software command cannot restore power that the physical E-stop has cut.

The robot can also latch itself. A servo that gets too hot, or a joint that pulls too much current for too long, has its torque cut and latched off to save the motor. That joint goes limp, so a raised arm can drop. Read latch_reason to tell the cases apart before you reset.

Full behavior in the safety contract and safety states.

Understanding the kiosk

Nori's face is an easy way to see and diagnose errors:

• The top right indicator dot has several states: white for ready, red for a motor control error, and green for connected. Tap on the dot at any time to see a text reminder.
• Nori's face, beyond having interactive expressions, will also change to indicate errors such as high temperature warning, or weak network signal.

The settings dashboard also exposes useful controls:

• Wifi setup and picking nicknames (as covered above)
• Full LAN access for developers
• Default allow mic on / auto-accept calls from operator
• Arm recalibration, which is needed only if you swapped out a motor and need to resweep joints. Read more here.

If it doesn't connect

The single most common failure is a session that sits at connecting and never reaches connected. That's almost always the network, not you — see Connection troubleshooting.