Entry points
| Import | Contains | Extra dep |
|---|---|---|
@nori/sdk | RemoteTeleop, telemetry/jog/keybind types, SignalingTransport contract, NORI_PROTOCOL_VERSION, supportsCapability, parseAck, serialModelCode, taskKeymapFor, CARTESIAN_TASK_KEYS | none |
@nori/sdk/vr | VrJogMapper, VrSession, DEFAULT_BINDINGS, VR types | three |
@nori/sdk/supabase | SupabaseSignaling (reference transport) | @supabase/supabase-js |
@nori/sdk/mock | createMockRobot, MockDaemonSim, createLoopbackSignaling — the dev/CI fake robot (quick start) | none |
The core has zero runtime dependencies. VR, Supabase signaling, and the mock sit behind their own subpath imports so you never pull them unless you ask for them.
Protocol version
The SDK targets nori-protocol v1 (spec: Nori-Robotics/Nori-Protocol), exported as NORI_PROTOCOL_VERSION. A daemon on a different major rejects the connection outright.
A minor difference is advisory: the handshake sets versionMismatch, the SDK warns and proceeds. Mixed daemon versions exist across the fleet, and unknown frame types are ignored by both sides — so a mismatch means vocabulary gaps, never unsafe behavior. See the handshake.
Documented in the source, not here
These ship in the package today. The TypeScript definitions are the reference for them:
| Call | What it is |
|---|---|
record(action, task?) / recordState() / onRecord | Robot-side episode recording for policy training — a session opens, records N episodes, and ships when the robot next idles. Records full-quality frames on the robot, not the degraded stream you're watching. |
daemonStatus() / onDaemonStatus | Bridge-reported health of the motor-control daemon, so a UI can say "motor control offline, reconnecting" instead of silently doing nothing. |
setPolicyDriving(on) | Hand the arms to a running policy — suppresses the jog/leader heartbeat so the two don't fight. |
setLeaderAction(deg) | Drive from physical leader arms (absolute joint angles in degrees). |
connectStatus() | Finer-grained connect progress than onConnState — which phase a stuck session is stuck in. |
setKeyboardSpeed(s) | Scale keyboard jog rates. |
currentMa(), CURRENT_MA_PER_LSB, CURRENT_FULL_LSB | Motor-current unit conversion — see Telemetry. |
@nori/sdk rail + robot-ops exports | Rail-height reading helpers, and the generated robot command vocabulary the LLM/agent surfaces are built from. |
Source of truth
The SDK package ships a README.md covering the same ground, for reading offline.
If these pages and the code ever disagree, the code wins — tell us and we'll fix the page.