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

Tool	Description
`webots_get_robot_state`	Get current robot state (pose, mode, etc.)
`webots_get_sensors`	Get sensor data from status
`webots_get_camera`	Get latest camera frame path
`webots_get_logs`	Get controller logs
`webots_simulation_control`	Pause/resume/reset/reload/step
`webots_take_screenshot`	Capture simulation view
`webots_monitor`	Monitor robot for N seconds
`webots_get_full_state`	Complete state dump

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