originrobot

CLI and server for the Origin robotics platform. Connect hardware devices, install robot control apps, launch simulators, and manage everything from a built-in dashboard.

Install

npm install -g originrobot

Or run directly with npx:

npx originrobot up

Requires Node.js ≥ 20.

Quick Start

# Start the server (API + dashboard on port 5050)
origin up

# Connect a serial device
origin up --serial /dev/ttyUSB0

# Connect via Bluetooth
origin up --bluetooth /dev/rfcomm0

# Open a TCP port for MuJoCo simulators
origin up --tcp 5051

# Install a robot control app
origin install https://github.com/user/my-robot-app

# Launch it on a connected device
origin launch my-robot-app --device toy-car

Open http://localhost:5050 to access the dashboard.

Commands

origin up [options]                       Start server + dashboard
  --port, -p <number>                     Server port (default: 5050)
  --serial, -s <path>                     Serial port (repeatable)
  --bluetooth, -b <path>                  Bluetooth port (repeatable)
  --tcp <port>                            TCP listener for simulators (repeatable)
  --baud <number>                         Baud rate (default: 9600)
  --token, -t <string>                    Bearer token for API auth
  --no-dashboard                          Skip the dashboard
  --open                                  Auto-open dashboard in browser

origin devices                            List connected devices
origin devices info <device-id>           Device detail + profile

origin apps                               List installed apps

origin install <source>                   Install an app (GitHub URL, local path, or tarball)
  --name <id>                             Override the app ID

origin uninstall <app-id>                 Remove an installed app

origin launch <app-id>                    Launch an app on a device
  --device, -d <device-id>               Target device (required)
  --mode <dev|prod>                       Run mode (default: dev)
  --open                                  Auto-open frontend in browser

origin stop <app-id>                      Stop a running app

origin secrets set <app-id> <key> <value> Set a secret
origin secrets list <app-id>              Show secret status

origin status                             Server info, devices, running apps
origin discover                           Scan for devices across all ports
origin profiles                           List device profiles
origin profiles show <device-id>          Show profile detail

Configuration

Create a config.ts (or config.js) in the directory where you run origin up:

import { defineConfig } from "originrobot"
import { SqliteStorageAdapter } from "originrobot/storage-sqlite"

export default defineConfig({
  port: 5050,
  tcp: 5051,
  baudRate: 9600,
  storage: new SqliteStorageAdapter("./data/origin.db"),
  appsDir: "./apps",
})

| Option | Type | Default | Description | |--------|------|---------|-------------| | port | number | 5050 | Server port (API + dashboard) | | serial | string \| string[] | — | Serial port path(s) | | bluetooth | string \| string[] | — | Bluetooth port path(s) | | tcp | number \| number[] | — | TCP listener port(s) for simulators | | baudRate | number | 9600 | Baud rate for serial/bluetooth | | token | string | — | Bearer token for API auth | | storage | StorageAdapter | In-memory | Storage backend | | appsDir | string | "./apps" | Directory for installed apps |

CLI flags override config file values.

Apps

Origin apps are directories with an origin-app.json manifest. Install from GitHub, a local path, or a tarball:

origin install https://github.com/user/robot-teleop
origin install ./my-local-app
origin install https://example.com/app-v1.tar.gz

Browse and request apps from the Origin Marketplace.

Manifest

{
  "name": "My Robot App",
  "id": "my-robot-app",
  "version": "1.0.0",
  "device": {
    "type": "quadruped",
    "requiredActions": ["set_pos", "reset"],
    "requiredState": ["base_pos_z"]
  },
  "runtime": {
    "type": "nextjs",
    "port": 3001,
    "devCmd": "pnpm dev",
    "startCmd": "pnpm start",
    "env": {
      "NEXT_PUBLIC_ORIGIN_URL": "{{origin.url}}",
      "NEXT_PUBLIC_DEVICE_ID": "{{device.id}}"
    }
  }
}

Device types: wheeled, quadruped, humanoid, arm, generic

Template variables resolved at launch: {{origin.url}}, {{device.id}}, {{backend.port}}, {{app.port}}

REST API

The server exposes a REST API on port 5050 (default). All endpoints return JSON.

| Method | Path | Description | |--------|------|-------------| | GET | /devices | List connected devices | | GET | /devices/:id | Device detail | | GET | /devices/:id/state | Current state | | POST | /devices/:id/actions | Send an action | | GET | /devices/:id/events | SSE event stream | | GET | /api/apps | List installed apps | | POST | /api/apps/install | Install an app | | POST | /api/apps/:id/launch | Launch an app | | POST | /api/apps/:id/stop | Stop an app | | GET | /api/apps/:id/logs | App logs | | POST | /api/simulators/launch | Launch a simulator | | GET | /events | Global SSE stream |

Simulators

Origin supports MuJoCo robot simulators over TCP. Start the server with --tcp and launch simulators from the dashboard or API:

origin up --tcp 5051

Simulators appear as regular devices once connected.

License

MIT