Robosimtools

An MCP server that exposes 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).

Tools

Every tool is read-only with no side effects.

Install

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:

{
  "mcpServers": {
    "robosimtools": {
      "command": "node",
      "args": ["ABSOLUTE/PATH/TO/robosimtools-mcp/src/index.js"]
    }
  }
}

OpenAI Codex CLI

Add to ~/.codex/config.toml and restart Codex:

[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

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:

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 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