Webots MCP Server

Generic MCP (Model Context Protocol) server for monitoring and controlling any Webots robot simulation. Provides Claude Code with real-time access to robot state, sensors, camera, and simulation control.

Features

• Real-time Monitoring: Robot pose, mode, custom state fields
• Sensor Data: Any sensors your controller publishes
• Camera: View camera frames saved by controller
• Simulation Control: Pause, resume, reset, reload, step
• Logging: Controller logs with filtering
• Screenshots: Capture simulation views

Quick Start

1. Install

pip install mcp pydantic

2. Configure Claude Code

Add to your project's .mcp.json:

{
  "mcpServers": {
    "webots": {
      "command": "python",
      "args": ["/path/to/webots-youbot-mcp/webots_youbot_mcp_server.py"],
      "cwd": "/path/to/webots-youbot-mcp"
    }
  }
}

3. Add to Your Controller

Minimal integration (~10 lines):

import sys
sys.path.insert(0, "/path/to/webots-youbot-mcp")
from mcp_bridge import MCPBridge

# In __init__:
self.mcp = MCPBridge(self.robot)  # pass Robot or Supervisor

# In main loop:
self.mcp.publish({
    "pose": [x, y, theta],
    "mode": "navigate",
    "sensors": {"front": 0.5, "left": 1.2},
    # ... any fields you want to expose
})
self.mcp.get_command()  # handles simulation control

That's it! The bridge handles throttling, file I/O, and command processing.

Available Tools

MCPBridge API

bridge = MCPBridge(robot, data_dir=None)

# Publish state (call every timestep)
bridge.publish({"key": "value", ...})

# Check for commands (optional)
cmd = bridge.get_command()

# Log messages
bridge.log("message")

# Save camera frames (optional)
bridge.save_camera_frame(camera)

Built-in commands handled automatically:

• simulation: pause/resume/reset/reload/step
• screenshot: capture simulation view

Data Directory

data/
 status.json      # Robot state (written by controller)
 commands.json    # Commands from MCP
 camera/          # Camera frames
 screenshots/     # Simulation screenshots
 logs/            # Controller logs

Requirements

• Python 3.10+
• mcp >= 1.0.0
• pydantic >= 2.0.0
• Pillow (optional, for camera frames)

License

MIT