robot_control
Control physical and virtual robots through a unified interface, enabling movement, status monitoring, emergency stops, and specific actions like docking or gait control.
Instructions
Unified robot control (works for both physical bot and virtual bot).
This portmanteau tool provides a unified interface for controlling both physical robots (via ROS) and virtual robots (via Unity/VRChat). The tool automatically routes commands to the appropriate handler based on robot type.
Args: robot_id: Robot identifier (e.g., "scout_01", "vbot_scout_01"). action: Operation to perform: - "get_status": Get robot status (battery, position, state) - "move": Control movement (linear/angular velocity) - "stop": Emergency stop - "return_to_dock": Return to charging dock (physical bot only) - "stand": Stand up (Unitree G1, physical bot only) - "sit": Sit down (Unitree G1, physical bot only) - "walk": Walking gait (Unitree, physical bot only) - "sync_vbot": Sync virtual bot with physical bot state linear: Linear velocity (m/s) for move action. angular: Angular velocity (rad/s) for move action. duration: Movement duration (seconds). **kwargs: Additional action-specific parameters.
Returns: Dictionary containing operation result.
Examples: Get robot status: result = await robot_control(robot_id="scout_01", action="get_status")
Move robot forward:
result = await robot_control(
robot_id="scout_01",
action="move",
linear=0.2,
angular=0.0
)
Stop robot:
result = await robot_control(robot_id="scout_01", action="stop")
Input Schema
| Name | Required | Description | Default |
|---|---|---|---|
| robot_id | Yes | ||
| action | Yes | ||
| linear | No | ||
| angular | No | ||
| duration | No |
Input Schema (JSON Schema)
{
"properties": {
"action": {
"enum": [
"get_status",
"move",
"stop",
"return_to_dock",
"stand",
"sit",
"walk",
"sync_vbot"
],
"type": "string"
},
"angular": {
"anyOf": [
{
"type": "number"
},
{
"type": "null"
}
],
"default": null
},
"duration": {
"anyOf": [
{
"type": "number"
},
{
"type": "null"
}
],
"default": null
},
"linear": {
"anyOf": [
{
"type": "number"
},
{
"type": "null"
}
],
"default": null
},
"robot_id": {
"type": "string"
}
},
"required": [
"robot_id",
"action"
],
"type": "object"
}
Implementation Reference
- MCP tool handler for 'robot_control': defines the tool function with input schema (parameters and types), docstring, and core logic routing to physical/virtual handlers.@self.mcp.tool() async def robot_control( robot_id: str, action: Literal[ "get_status", "move", "stop", "return_to_dock", "stand", "sit", "walk", "sync_vbot", ], linear: Optional[float] = None, angular: Optional[float] = None, duration: Optional[float] = None, ) -> Dict[str, Any]: """Unified robot control (works for both physical bot and virtual bot). This portmanteau tool provides a unified interface for controlling both physical robots (via ROS) and virtual robots (via Unity/VRChat). The tool automatically routes commands to the appropriate handler based on robot type. Args: robot_id: Robot identifier (e.g., "scout_01", "vbot_scout_01"). action: Operation to perform: - "get_status": Get robot status (battery, position, state) - "move": Control movement (linear/angular velocity) - "stop": Emergency stop - "return_to_dock": Return to charging dock (physical bot only) - "stand": Stand up (Unitree G1, physical bot only) - "sit": Sit down (Unitree G1, physical bot only) - "walk": Walking gait (Unitree, physical bot only) - "sync_vbot": Sync virtual bot with physical bot state linear: Linear velocity (m/s) for move action. angular: Angular velocity (rad/s) for move action. duration: Movement duration (seconds). **kwargs: Additional action-specific parameters. Returns: Dictionary containing operation result. Examples: Get robot status: result = await robot_control(robot_id="scout_01", action="get_status") Move robot forward: result = await robot_control( robot_id="scout_01", action="move", linear=0.2, angular=0.0 ) Stop robot: result = await robot_control(robot_id="scout_01", action="stop") """ try: robot = self.state_manager.get_robot(robot_id) if not robot: return format_error_response( f"Robot {robot_id} not found", error_type="not_found", robot_id=robot_id, action=action, ) # Route to appropriate handler if robot.is_virtual: return await self._handle_virtual_robot(robot, action, linear, angular, duration) else: return await self._handle_physical_robot(robot, action, linear, angular, duration) except Exception as e: return handle_tool_error("robot_control", e, robot_id=robot_id, action=action)
- src/robotics_mcp/server.py:360-361 (registration)Registration of the RobotControlTool instance via self.robot_control.register() in the server's _register_tools method.self.robotics_system.register() # Portmanteau: help, status, list_robots self.robot_control.register() # Portmanteau: movement, status, control
- src/robotics_mcp/server.py:123-126 (registration)Instantiation of RobotControlTool with MCP and state_manager in the server constructor.self.robotics_system = RoboticsSystemTool( self.mcp, self.state_manager, self.config, self.config_loader, self.mounted_servers ) self.robot_control = RobotControlTool(self.mcp, self.state_manager)
- Helper method implementing virtual robot control by delegating to mounted MCP servers (avatar-mcp, unity3d-mcp, vrchat-mcp).async def _handle_virtual_robot( self, robot: Any, action: str, linear: Optional[float], angular: Optional[float], duration: Optional[float], ) -> Dict[str, Any]: """Handle virtual robot commands. Args: robot: Robot state. action: Action to perform. linear: Linear velocity. angular: Angular velocity. duration: Movement duration. **kwargs: Additional parameters. Returns: Operation result. """ from fastmcp import Client logger.info("Virtual robot command", robot_id=robot.robot_id, action=action, platform=robot.platform) try: if action == "move": if robot.platform == "unity": # Use avatar-mcp or unity3d-mcp for movement async with Client(self.mcp) as client: # Try avatar-mcp first for smooth locomotion try: await client.call_tool( "avatar_movement_walk", avatar_id=robot.robot_id, direction="forward", speed=linear or 0.0, ) if angular: await client.call_tool( "avatar_movement_turn", avatar_id=robot.robot_id, angle=angular, ) return { "status": "success", "message": f"Virtual robot moved via avatar-mcp", "robot_id": robot.robot_id, "action": action, "linear": linear, "angular": angular, } except Exception: # Fallback to Unity direct control await client.call_tool( "unity_execute_method", class_name="RobotController", method_name="Move", parameters={ "robotId": robot.robot_id, "linear": linear or 0.0, "angular": angular or 0.0, }, ) return { "status": "success", "message": f"Virtual robot moved via Unity", "robot_id": robot.robot_id, "action": action, } elif robot.platform == "vrchat": # Use VRChat OSC for movement async with Client(self.mcp) as client: await client.call_tool( "vrchat_send_osc_message", address=f"/robot/{robot.robot_id}/move", args=[linear or 0.0, angular or 0.0], ) return { "status": "success", "message": f"Virtual robot moved via VRChat OSC", "robot_id": robot.robot_id, "action": action, } elif action == "stop": async with Client(self.mcp) as client: if robot.platform == "vrchat": await client.call_tool( "vrchat_send_osc_message", address=f"/robot/{robot.robot_id}/stop", args=[1], ) else: await client.call_tool( "avatar_movement_walk", avatar_id=robot.robot_id, direction="forward", speed=0.0, ) return { "status": "success", "message": f"Virtual robot stopped", "robot_id": robot.robot_id, "action": action, } elif action == "get_status": return { "status": "success", "robot": robot.to_dict(), "action": action, } else: return { "status": "success", "message": f"Virtual robot {action} command sent", "robot_id": robot.robot_id, "action": action, } except Exception as e: return handle_tool_error("_handle_virtual_robot", e, robot_id=robot.robot_id, action=action)
- Helper method for physical robot commands (currently mocked, pending ROS integration).async def _handle_physical_robot( self, robot: Any, action: str, linear: Optional[float], angular: Optional[float], duration: Optional[float], ) -> Dict[str, Any]: """Handle physical robot commands. Args: robot: Robot state. action: Action to perform. linear: Linear velocity. angular: Angular velocity. duration: Movement duration. **kwargs: Additional parameters. Returns: Operation result. """ try: # TODO: Implement ROS bridge integration logger.info("Physical robot command", robot_id=robot.robot_id, action=action) return format_success_response( f"Physical robot {action} command sent (mock - ROS integration pending)", robot_id=robot.robot_id, action=action, data={ "note": "ROS bridge integration not yet implemented", "mock": True, }, ) except Exception as e: return handle_tool_error("_handle_physical_robot", e, robot_id=robot.robot_id, action=action)