Content
# robosimtools-mcp
An [MCP](https://modelcontextprotocol.io) server that exposes
[robosimtools.com](https://robosimtools.com)'s 12 robotics/simulation tools to
AI agents. The tool logic here is the **same code robosimtools.com serves to
your browser** — vendored into `lib/` so this server is self-contained. All
computation is local; nothing is uploaded.
> This is the open-source MCP server for robosimtools.com. The website itself is
> a separate project; only the browser tools it already ships publicly are
> included here (see [Vendored modules](#vendored-modules)).
## Tools
| Tool | What it does |
|------|--------------|
| `robosim_convert_rotation` | Quaternion ↔ Euler (12 sequences) ↔ 3×3 matrix ↔ axis-angle ↔ URDF roll-pitch-yaw. |
| `robosim_dh_to_urdf` | Denavit-Hartenberg table → URDF joint chain (standard or modified/Craig). |
| `robosim_diff_ardupilot_params` | Diff two ArduPilot `.param` files; changed / added / removed. |
| `robosim_mesh_mass_properties` | STL/OBJ → mass, center of mass, full inertia tensor. |
| `robosim_validate_urdf` | Structural URDF validation — tree, inertia sanity, joint limits. |
| `robosim_inspect_urdf` | URDF → links, joints, kinematic roots, degrees of freedom. |
| `robosim_xacro_to_urdf` | Expand Xacro properties, macros, conditionals, includes → URDF. |
| `robosim_urdf_to_mjcf` | URDF → MuJoCo MJCF. |
| `robosim_sdf_to_urdf` | Gazebo SDF → URDF with correct relative joint origins. |
| `robosim_step_to_urdf` | STEP/IGES CAD → URDF with per-solid inertia (OCCT WASM kernel). |
| `robosim_generate_sbom` | Lockfile (npm/pip/cargo/go) → CycloneDX 1.6 SBOM. |
| `robosim_cra_readiness` | EU Cyber Resilience Act scoping wizard. |
Every tool is read-only with no side effects.
## Install
```bash
git clone https://github.com/RahulRajelli/robosimtools-mcp
cd robosimtools-mcp
npm install
```
## Use it
The server talks over stdio, so any client that supports local MCP servers
works. Replace the path below with wherever you cloned the repo.
### Claude Desktop
Add to `claude_desktop_config.json` and restart:
```json
{
"mcpServers": {
"robosimtools": {
"command": "node",
"args": ["ABSOLUTE/PATH/TO/robosimtools-mcp/src/index.js"]
}
}
}
```
### OpenAI Codex CLI
Add to `~/.codex/config.toml` and restart Codex:
```toml
[mcp_servers.robosimtools]
command = "node"
args = ["ABSOLUTE/PATH/TO/robosimtools-mcp/src/index.js"]
```
> ChatGPT's own connectors target **remote** (HTTP) MCP servers — for this
> local stdio server, use the Codex CLI or Claude Desktop.
Then ask, e.g.: *"Convert the quaternion (w=0.707, x=0, y=0, z=0.707) to URDF
roll-pitch-yaw"*, or *"Turn this STEP file into a URDF with computed inertia."*
## Test
```bash
npm test # 39 known-answer checks across all 12 tools
npm run test:e2e # connects a real MCP client over stdio
```
## Vendored modules
`lib/` holds the tool logic — the same ES modules robosimtools.com serves at
`robosimtools.com/js/*.js`. They are vendored (not fetched at runtime) so the
package is self-contained. To refresh them from a local site checkout:
```bash
node scripts/sync-from-site.mjs /path/to/site/public/js
```
## Design notes
- **DOM in Node.** Four tools (URDF validator, Xacro, MJCF, SDF converters) use
the browser `DOMParser`/`XMLSerializer`. `src/browser-globals.js` provides
those via [linkedom](https://github.com/WebReflection/linkedom) so the modules
run unchanged (its `XMLSerializer` strips the XML prolog linkedom adds, to
match browsers).
- **CAD kernel.** `robosim_step_to_urdf` loads `occt-import-js` (a 7.6 MB WASM
build of OpenCascade) lazily on first use.
- **Plain JS ESM**, zero build step.
## License
MIT
