norirobotics-mcp

# norirobotics-mcp — Full Reference

FastMCP 3.4 MCP server for the Nori Robotics A3: a $1,688, 19-DOF wheeled bimanual home robot
from Nori Robotics (YC S26, San Francisco), shipping Fall 2026.

## Why this exists

Wraps `nori-sdk` (PyPI, Apache-2.0), Nori Robotics' real Python client, which talks to the
robot over a WebRTC data channel with Supabase Realtime signaling — there is no serial/USB/ROS
bridge. No physical unit exists in this household yet, so every session-gated tool defaults to
`nori_sdk.mock.mock_session()`, the SDK's own declared mock, until real credentials are set.

## Hardware (for context, not controlled directly by this repo's code — see nori_info)

19 DOF: 2x 7+1-DOF arms (55cm reach, 1.5kg payload each), 1 telescoping lift axis (69-145cm),
differential-drive base. Feetech STS-series bus servos (torque-graded per joint). Soft-TPU
gripper with sensorless force sensing. Raspberry Pi 5 (4GB) onboard compute — bus I/O and
control loop only, all policy inference off-board. 4x 720p cameras, 2D LiDAR, dual mic array,
432Wh battery (6-8h).

## Tools

### nori_info(operation="info"|"specs"|"sdk_links"|"predecessor"|"community"|"actuator_upgrade"|"fleet_peers"|"skills_marketplace")
No session required. Returns static reference data sourced from
mcp-central-docs/projects/norirobotics-mcp/RESEARCH.md. `skills_marketplace` is a STUB
(`stub:true`/`live:false`): Nori's user-provided robot-skills site is announced on
norirobotics.com but not live as of 2026-09-06; sharing today = HF Hub via Nori-Lab.

### nori_session(operation="connect"|"disconnect"|"status"|"wait_ready|list_profiles|add_profile|switch_profile|remove_profile", force_mock=False, profile_id, name, kind, ...)
Opens/closes/inspects the one process-wide session and manages the multi-bot profile registry
(Virtual Twin + named physical A3s). `connect` picks real nori_sdk.RemoteTeleop when the active
profile is kind="physical", otherwise nori_sdk.mock.mock_session(). Idempotent. Every response
carries robot_kind/profile_name.

### nori_control(operation=..., payload, targets, side, position_m, orientation_xyzw, arm, duration, wait, timeout)
Requires an open session. Motion: jog, set_jog, clear_jog, action, pose. Safety: estop,
estop_confirmed, reset_latch, reset_arm. Every op maps 1:1 onto a nori_sdk.RemoteTeleop method.

### nori_recording(operation=..., task, role, kbps, paused, track_timeout)
Requires an open session. `operation` maps 1:1 onto nori_sdk's own RecordVerb literal
(session_start/episode_start/episode_stop/episode_discard/session_end/session_discard/start/
stop/discard/discard_last/status) — episode_start is what actually flips recording=true;
persisted server-side in LeRobot-compatible format, feeding vla-mcp / any Hugging Face LeRobot
training pipeline. snapshot/frames for video, set_bitrate/set_paused for the live stream.

### nori_help() / nori_shutdown()
Quick reference and clean session teardown (does not stop the MCP server process).

## Fleet integration

Registers with robotics-mcp (physical + virtual robot hub). Pairs with teleoperator-mcp
(WebXR teleop — Nori's own control path is WebRTC remote-teleop, a natural fit for VR-driven
demonstration collection instead of building a second teleop path). Feeds vla-mcp (logged
Alpha/Shelfware, never used in production — Nori LeRobot recordings are its first plausible
real workload). Related to universal-actuator-mcp for any future Feetech-to-QDD actuator
upgrade (see nori_info(operation="actuator_upgrade") — CubeMars/MyActuator named on the HN
launch thread, no fabricated BOM). Closest structural precedent in the fleet: bumi-mcp
(specs+OSS-info now, physical control gated behind a verified bridge).

## Ports

11970 backend (FastAPI + FastMCP HTTP /mcp + REST /api/*), 11971 frontend (Vite React).

## REST endpoints (fleet 1E)

GET /api/health, GET /api/status (uptime, tool_count, session), GET /api/capabilities,
GET /api/hero, GET /api/tools, GET /api/skills, GET /api/session, POST /api/session/connect,
POST /api/session/disconnect, GET /api/robot-profiles + /active, POST /api/robot-profiles,
POST /api/robot-profiles/{id}/activate, DELETE /api/robot-profiles/{id},
POST /api/control/*, POST /api/recording/*, POST /api/vr (nori_vr spawn/status per platform),
GET /api/logs, GET/POST /api/llm/providers+chat,
POST /api/chat + /api/chat/stream (fleet-standard aliases, non-streaming today;
server trims to last 20 msgs/2000 chars, 300s timeout for cold model load).

## Honesty notes for agents

Do not fabricate a local serial/ROS/REST API for the A3 — there isn't one; nori-sdk over
WebRTC/Supabase is the only real integration surface. HF (Hugging Face) parentage is
protocol-level (LeRobot dataset format compatibility via the XLeRobot/SO-101 lineage), not a
confirmed direct Nori<->HF publishing relationship — re-verify before stating otherwise.