CoppeliaSim-mcpserver
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The CoppeliaSim MCP Server is a Python-based project aimed at facilitating motion control protocol for robotics simulations using CoppeliaSim. It supports multiple protocol backends and transports, making it versatile for developers and adaptable to LLM workflows.
CoppeliaSim MCP Server
A Python-based MCP server implementation designed for CoppeliaSim robotics simulation. The server supports both FastAPI and FastMCP backends and offers features such as JSON-RPC 2.0 protocol, tools for joint control and robot/scene descriptions, and support for HTTP/SSE and stdio transports. It provides a flexible output suitable for large language models (LLMs).
Features
- JSON-RPC 2.0 protocol
- Joint control and robot/scene description tools
- Supports HTTP/SSE and stdio transports
Requirements
- Python 3.x
- CoppeliaSim version 4.3 or newer
- Required Python packages (see requirements.txt)
Usage
- Start CoppeliaSim and load your robot model.
- Run the MCP server using one of these options:
- FastAPI-based server: Recommended for production.
- FastMCP-based server: Suitable for agent/LLM-native workflows.
- Direct script: For development or debugging.
- Connect clients using SSE/HTTP or stdio transport.
- Enable "Auto Approve" in client settings to streamline tool calls.