Mycobot

Overview

This project is a MCP server for myCobot.

This MCP can send simple pick-and-place instructions to myCobot.

[!NOTE] This MCP server requires image feedback. Please connect an MCP client that can handle image feedback.

Chat example

https://github.com/user-attachments/assets/e2c222b8-1ce2-4fb1-8b59-11ec5e973432

Setup

DDS API Token

This project uses the DDS API for object detection. Please register and issue an API key for DDS.

https://cloud.deepdataspace.com/

Claude-Desktop

If you want to run this project on Ubuntu, you can install Claude-Desktop from the following instructions.

https://github.com/aaddrick/claude-desktop-debian

Edit the claude_desktop_config.json file to add the following:

{
  "mcpServers": {
    "mycobot": {
      "command": "uvx",
      "args": [
        "mycobot-mcp",
        "--settings-path",
        "/path/to/settings.json"
      ],
      "env": {
        "DDS_API_TOKEN": "your-api-token"
      }
    }
  }
}

Or you can clone this repository and run the following command.

git clone https://github.com/neka-nat/mycobot-mcp.git

{
  "mcpServers": {
    "mycobot": {
      "command": "uv",
      "args": [
        "--directory",
        "/path/to/mycobot-mcp/",
        "run",
        "mycobot-mcp",
        "--settings-path",
        "/path/to/settings.json"
      ],
      "env": {
        "DDS_API_TOKEN": "your-api-token"
      }
    }
  }
}

Hardware

This software assumes the following hardware configuration.

• myCobot
• suction-pump
• camera-flange

Parameters

Create a settings.json file to configure the myCobot hardware and the camera. The sample is here.

{
    "camera_id": 0,
    "camera_parameter_path": "/path/to/camera_calibration/mtx_dist.npy",
    "mycobot_settings": {
        "urdf_path": "/path/to/mycobot.urdf",
        "end_effector_name": "camera_flange",
        "port": "/dev/ttyACM0",
        "baud": 115200,
        "default_speed": 40,
        "default_z_speed": 20,
        "suction_pin": 5,
        "command_timeout": 5,
        "use_gravity_compensation": false,
        "end_effector_height": 0.065,
        "object_height": 0.01,
        "release_height": 0.05,
        "places": [
            {
                "name": "home",
                "description": "Home position",
                "position": [0, 20, -130, 20, 0, 0]
            },
            {
                "name": "capture",
                "description": "Camera capture position",
                "position": [0, 0, -30, -60, 0, -45]
            },
            {
                "name": "drop",
                "description": "Position to drop object",
                "position": [-45, 20, -130, 20, 0, 0]
            }
        ]
    }
}

Change port permission

When you connect mycobot, you need to change the permission.

sudo chmod 666 /dev/ttyACM0