generated: '2026-07-20'
method: searched
source: https://docs.norirobotics.com/sdk/
summary: >-
  Cross-cutting semantics for the @nori/sdk robot-local teleoperation SDK. This
  is not a request/response REST API — it is a real-time WebRTC session between a
  browser client (RemoteTeleop) and a robot control daemon, so the conventions
  below cover connectivity, the handshake, streaming control, and the safety
  contract rather than pagination/idempotency.
transport:
  type: WebRTC
  data_channel_format: NDJSON
  control_rate: 50Hz
  daemon_port: 7777
  pipeline: "app -> @nori/sdk (RemoteTeleop) -> WebRTC data channel -> Pi bridge -> nori daemon (webrtc_robot)"
connectivity:
  modes: [LAN, STUN, TURN]
  reference_transport: Supabase signaling (room + token provisioned by Nori)
  byo: bring-your-own signaling supported (Advanced > Bring your own signaling)
handshake:
  description: >-
    On connect the daemon returns robotInfo() including a watchdogProfile and
    descriptor.ranges. Limits are disclosed, not negotiated — there is
    deliberately no API to change them.
  protocol_check: daemon on a different nori-protocol major rejects the connection
safety_contract:
  principle: >-
    Every safety mechanism lives on the robot; none are negotiable from the SDK.
    Clamping, watchdog, E-STOP, stall handling, and the motor torque lifecycle
    run in the robot's control daemon. No message the SDK can send disables or
    loosens them.
  telemetry_field: telemetry.safety (SafetyState)
media_and_sensing:
  video: WebRTC video track
  audio: two-way call audio (experimental) plus sendClipAudio clips
  perception: perception stream
  consent_gate: >-
    joinCall() rings an accept prompt at the robot; room audio stays silent until
    a person there accepts. Audio clips via sendClipAudio are exempt.
idempotency:
  supported: false
  notes: Real-time streaming teleoperation; no idempotency-key contract applies.
pagination:
  supported: false
error_semantics:
  notes: Errors surface via telemetry.safety states and handshake rejection; no RFC 9457 problem+json envelope (no REST API).
cross_links:
  lifecycle: lifecycle/noril1-lifecycle.yml
  packages: packages/noril1-packages.yml
  conformance: conformance/noril1-conformance.yml