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str | None�h]�(j� )��}�(hhh]�h�str�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�� refdomain�j� �reftype�j� � reftarget��str��refspecific��� py:module�j� �py:class�j� uh*j� hj� ubj )��}�(h� �h]�h� �����}�(hj� hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubjt )��}�(h�|�h]�h�|�����}�(hj� hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*js hj� ubj )��}�(h� �h]�h� �����}�(hj� hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubj� )��}�(hhh]�h�None�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�� refdomain�j� �reftype�j� � reftarget��None��refspecific��� py:module�j� �py:class�j� uh*j� hj� ubeh}�(h ]�h"]�jo ah$]�h&]�h(]�uh*jb hj ubj )��}�(h� �h]�h� �����}�(hj hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj ubj� )��}�(h�=�h]�h�=�����}�(hj hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*j� hj ubj )��}�(h� �h]�h� �����}�(hj% hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj ubj� )��}�(h�None�h]�h�None�����}�(hj3 hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]��support_smartquotes��uh*j� hj ubeh}�(h ]�h"]�h$]�h&]�h(]�j/ j0 uh*j\ hjk ubeh}�(h ]�h"]�h$]�h&]�h(]�j/ j0 j� �j� �uh*jV hjX hhhjj hKubjZ )��}�(h�None�h]�j� )��}�(hhh]�h�None�����}�(hjR hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�� refdomain�j� �reftype�j� � reftarget��None��refspecific��� py:module�j� �py:class�j� uh*j� hjN ubah}�(h ]�h"]�h$]�h&]�h(]�j/ j0 uh*jY hjX hhhjj hKubeh}�(h ]�jS ah"]�(j� j� eh$]�h&]�h(]�j� �gazebo_mcp.server�j� j� j� �MCPResponse.__init__�j� jr �MCPResponse��__init__���j� �MCPResponse.__init__()�uh*h�hjj hKhjU hhubj� )��}�(hhh]�h}�(h ]�h"]�h$]�h&]�h(]�uh*j� hjU hhhNhNubeh}�(h ]�h"]�(�py��method�eh$]�h&]�h(]�j� j� j� j� j� j� j� �j� �j� �j� �j� �j� �j� �uh*h�hhhj� hNhNubeh}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hhhNhNubeh}�(h ]�h"]�(�py��class�eh$]�h&]�h(]�j� j� j� j� j� j� j� �j� �j� �j� �j� �j� �j� �uh*h�hhhh�hNhNubh�)��}�(hhh]�h}�(h ]�h"]�h$]�h&]�h(]��entries�]�(h�,GazeboMCPServer (class in gazebo_mcp.server)��!gazebo_mcp.server.GazeboMCPServer�hNt�auh*h�hh�hhhNhNubh�)��}�(hhh]�(h�)��}�(h�zGazeboMCPServer(workspace_dir: str | None = None, ros2_workspace: str | None = None, gazebo_model_path: str | None = None)�h]�(j )��}�(h�F[<desc_sig_keyword: <#text: 'class'>>, <desc_sig_space: <#text: ' '>>]�h]�(j )��}�(h�class�h]�h�class�����}�(hj� hhhNhNubah}�(h ]�h"]�j ah$]�h&]�h(]�uh*j hj� ubj )��}�(h� �h]�h� �����}�(hj� hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubeh}�(h ]�h"]�h$]�h&]�h(]�j/ j0 uh*j hj� hhh�{/home/koen/workspaces/hackathon-git/ros2_gazebo_mcp/src/gazebo_mcp/server.py:docstring of gazebo_mcp.server.GazeboMCPServer�hKubj3 )��}�(h�gazebo_mcp.server.�h]�h�gazebo_mcp.server.�����}�(hj� hhhNhNubah}�(h ]�h"]�(j? j@ eh$]�h&]�h(]�j/ j0 uh*j2 hj� hhhj� hKubjE )��}�(h�GazeboMCPServer�h]�h�GazeboMCPServer�����}�(hj� hhhNhNubah}�(h ]�h"]�(jQ jR eh$]�h&]�h(]�j/ j0 uh*jD hj� hhhj� hKubjW )��}�(h�iworkspace_dir: str | None = None, ros2_workspace: str | None = None, gazebo_model_path: str | None = None�h]�(j] )��}�(h� workspace_dir: str | None = None�h]�(jc )��}�(h�
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workspace_dir������K� }�(hj� hhhNhNubah}�(h ]�h"]�jo ah$]�h&]�h(]�uh*jb hj� ubjt )��}�(h�:�h]�h�:�����}�(hj hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*js hj� ubj )��}�(h� �h]�h� �����}�(hj hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubjc )��}�(h�
str | None�h]�(j� )��}�(hhh]�h�str�����}�(hj% hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�� refdomain�j� �reftype�j� � reftarget��str��refspecific��� py:module�j� �py:class�Nuh*j� hj! ubj )��}�(h� �h]�h� �����}�(hj9 hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj! ubjt )��}�(h�|�h]�h�|�����}�(hjG hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*js hj! ubj )��}�(h� �h]�h� �����}�(hjU hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj! ubj� )��}�(hhh]�h�None�����}�(hjc hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�� refdomain�j� �reftype�j� � reftarget��None��refspecific��� py:module�j� �py:class�Nuh*j� hj! ubeh}�(h ]�h"]�jo ah$]�h&]�h(]�uh*jb hj� ubj )��}�(h� �h]�h� �����}�(hj} hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubj� )��}�(h�=�h]�h�=�����}�(hj� hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*j� hj� ubj )��}�(h� �h]�h� �����}�(hj� hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubj� )��}�(h�None�h]�h�None�����}�(hj� hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]��support_smartquotes��uh*j� hj� ubeh}�(h ]�h"]�h$]�h&]�h(]�j/ j0 uh*j\ hj� ubj] )��}�(h�!ros2_workspace: str | None = None�h]�(jc )��}�(h�ros2_workspace�h]�h�ros2_workspace�����}�(hj� hhhNhNubah}�(h ]�h"]�jo ah$]�h&]�h(]�uh*jb hj� ubjt )��}�(h�:�h]�h�:�����}�(hj� hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*js hj� ubj )��}�(h� �h]�h� �����}�(hj� hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubjc )��}�(h�
str | None�h]�(j� )��}�(hhh]�h�str�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�� refdomain�j� �reftype�j� � reftarget��str��refspecific��� py:module�j� �py:class�Nuh*j� hj� ubj )��}�(h� �h]�h� �����}�(hj hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubjt )��}�(h�|�h]�h�|�����}�(hj hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*js hj� ubj )��}�(h� �h]�h� �����}�(hj hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubj� )��}�(hhh]�h�None�����}�(hj, hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�� refdomain�j� �reftype�j� � reftarget��None��refspecific��� py:module�j� �py:class�Nuh*j� hj� ubeh}�(h ]�h"]�jo ah$]�h&]�h(]�uh*jb hj� ubj )��}�(h� �h]�h� �����}�(hjF hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubj� )��}�(h�=�h]�h�=�����}�(hjT hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*j� hj� ubj )��}�(h� �h]�h� �����}�(hjb hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubj� )��}�(h�None�h]�h�None�����}�(hjp hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]��support_smartquotes��uh*j� hj� ubeh}�(h ]�h"]�h$]�h&]�h(]�j/ j0 uh*j\ hj� ubj] )��}�(h�$gazebo_model_path: str | None = None�h]�(jc )��}�(h�gazebo_model_path�h]�h�gazebo_model_path�����}�(hj� hhhNhNubah}�(h ]�h"]�jo ah$]�h&]�h(]�uh*jb hj� ubjt )��}�(h�:�h]�h�:�����}�(hj� hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*js hj� ubj )��}�(h� �h]�h� �����}�(hj� hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubjc )��}�(h�
str | None�h]�(j� )��}�(hhh]�h�str�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�� refdomain�j� �reftype�j� � reftarget��str��refspecific��� py:module�j� �py:class�Nuh*j� hj� ubj )��}�(h� �h]�h� �����}�(hj� hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubjt )��}�(h�|�h]�h�|�����}�(hj� hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*js hj� ubj )��}�(h� �h]�h� �����}�(hj� hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubj� )��}�(hhh]�h�None�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�� refdomain�j� �reftype�j� � reftarget��None��refspecific��� py:module�j� �py:class�Nuh*j� hj� ubeh}�(h ]�h"]�jo ah$]�h&]�h(]�uh*jb hj� ubj )��}�(h� �h]�h� �����}�(hj hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubj� )��}�(h�=�h]�h�=�����}�(hj hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]�uh*j� hj� ubj )��}�(h� �h]�h� �����}�(hj+ hhhNhNubah}�(h ]�h"]�j% ah$]�h&]�h(]�uh*j hj� ubj� )��}�(h�None�h]�h�None�����}�(hj9 hhhNhNubah}�(h ]�h"]�j� ah$]�h&]�h(]��support_smartquotes��uh*j� hj� ubeh}�(h ]�h"]�h$]�h&]�h(]�j/ j0 uh*j\ hj� ubeh}�(h ]�h"]�h$]�h&]�h(]�j/ j0 j� �j� �uh*jV hj� hhhj� hKubj� )��}�(hhh]�h}�(h ]�h"]�h$]�h&]�h(]�� reftarget��_modules/gazebo_mcp/server��refid�j� �refdoc�hNuh*j� hj� hhhNhNubeh}�(h ]�j� ah"]�(j� j� eh$]�h&]�h(]�j� �gazebo_mcp.server�j� hj� j� j� jg j� ��j� j� uh*h�hj� hKhj� hhubj� )��}�(hhh]�(h�)��}�(h�Bases: :py:class:`object`�h]�(h�Bases: �����}�(hjl hhhNhNubj� )��}�(h�:py:class:`object`�h]�j� )��}�(hjv h]�h�object�����}�(hjx hhhNhNubah}�(h ]�h"]�(j� �py��py-class�eh$]�h&]�h(]�uh*j� hjt ubah}�(h ]�h"]�h$]�h&]�h(]��refdoc�hN� refdomain�j� �reftype��class��refexplicit���refwarn��j jg j
j� j �object�uh*j� h�{/home/koen/workspaces/hackathon-git/ros2_gazebo_mcp/src/gazebo_mcp/server.py:docstring of gazebo_mcp.server.GazeboMCPServer�hKhjl ubeh}�(h ]�h"]�h$]�h&]�h(]�uh*h�hj� hKhji hhubh �block_quote���)��}�(hX� ROS2 Gazebo MCP Server.
Extends base MCP Server with ROS2/Gazebo-specific functionality:
- ROS2 connection management
- Gazebo simulation state tracking
- Extended sandbox for ROS2/Gazebo paths
- Health monitoring for ROS2 nodes
Example usage:
server = GazeboMCPServer(
workspace_dir="/path/to/ros2_ws",
ros2_workspace="/opt/ros/humble"
)
request = MCPRequest(code='''�h]�(h�)��}�(h�ROS2 Gazebo MCP Server.�h]�h�ROS2 Gazebo MCP Server.�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*h�h�{/home/koen/workspaces/hackathon-git/ros2_gazebo_mcp/src/gazebo_mcp/server.py:docstring of gazebo_mcp.server.GazeboMCPServer�hKhj� ubh�)��}�(h��Extends base MCP Server with ROS2/Gazebo-specific functionality:
- ROS2 connection management
- Gazebo simulation state tracking
- Extended sandbox for ROS2/Gazebo paths
- Health monitoring for ROS2 nodes�h]�h��Extends base MCP Server with ROS2/Gazebo-specific functionality:
- ROS2 connection management
- Gazebo simulation state tracking
- Extended sandbox for ROS2/Gazebo paths
- Health monitoring for ROS2 nodes�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*h�hj� hKhj� ubh �definition_list���)��}�(hhh]�h �definition_list_item���)��}�(h��Example usage:
server = GazeboMCPServer(
workspace_dir="/path/to/ros2_ws",
ros2_workspace="/opt/ros/humble"
)
request = MCPRequest(code='''�h]�(h �term���)��}�(h�Example usage:�h]�h�Example usage:�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hK hj� ubh �
definition���)��}�(hhh]�(j� )��}�(hhh]�j� )��}�(h�\server = GazeboMCPServer(
workspace_dir="/path/to/ros2_ws",
ros2_workspace="/opt/ros/humble"�h]�(j� )��}�(h�server = GazeboMCPServer(�h]�h�server = GazeboMCPServer(�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hK
hj� ubj� )��}�(hhh]�h�)��}�(h�Bworkspace_dir="/path/to/ros2_ws",
ros2_workspace="/opt/ros/humble"�h]�h�Jworkspace_dir=”/path/to/ros2_ws”,
ros2_workspace=”/opt/ros/humble”�����}�(hj� hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*h�hj� hKhj� ubah}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hKhj� ubeh}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hK
hj� ubah}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hK
hj� ubh�)��}�(h�)�h]�h�)�����}�(hj hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*h�hj� hK
hj� ubh�)��}�(h�request = MCPRequest(code='''�h]�h�#request = MCPRequest(code=’’’�����}�(hj$ hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*h�hj� hKhj� ubeh}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hK
hj� ubeh}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hK hj� ubah}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hK hj� ubeh}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hKhji hhubh�)��}�(h�hfrom gazebo_mcp.tools.model_management import list_models
from skills.common.filters import ResultFilter�h]�h�hfrom gazebo_mcp.tools.model_management import list_models
from skills.common.filters import ResultFilter�����}�(hjJ hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*h�hj� hKhji hhubh�)��}�(h�T# Get all models (filtered format):
result = list_models(response_format="filtered")�h]�h�X# Get all models (filtered format):
result = list_models(response_format=”filtered”)�����}�(hjX hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*h�hj� hKhji hhubh�)��}�(h��# Filter locally (98.7% token savings!):
turtlebots = ResultFilter.search(result["models"], "turtlebot3", ["name"])
burger = ResultFilter.filter_by_field(turtlebots, "variant", "burger")�h]�h��# Filter locally (98.7% token savings!):
turtlebots = ResultFilter.search(result[“models”], “turtlebot3”, [“name”])
burger = ResultFilter.filter_by_field(turtlebots, “variant”, “burger”)�����}�(hjf hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*h�hj� hKhji hhubj� )��}�(hhh]�j� )��}�(h�gprint(f"Found: {burger[0]['name']}")
''')
response = server.execute(request)
print(response.result)
�h]�(j� )��}�(h�$print(f"Found: {burger[0]['name']}")�h]�h�,print(f”Found: {burger[0][‘name’]}”)�����}�(hj{ hhhNhNubah}�(h ]�h"]�h$]�h&]�h(]�uh*j� hj� hKhjw ubj� )��}�(hhh]�(h�)��}�(h�''')�h]�h�
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print(response.result)�h]�h�9response = server.execute(request)
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