coppeliasim-mcp

crear_junta

Create a motorized revolute or linear joint in CoppeliaSim, set its axis, control mode, and torque limit, so that wheels or arms can be attached and driven by velocity or position commands.

Instructions

Crea una articulación motorizada y la deja lista para recibir órdenes.

tipo: 'rotativa' (gira) o 'lineal' (desliza). eje: 'x', 'y' o 'z' — en qué dirección gira o desliza, respecto al padre. modo: 'velocidad' para un motor de rueda, 'posicion' para un brazo, 'libre' para que la junta gire suelta sin motor. par_maximo: par o fuerza que el motor puede dar (N·m o N). Si se queda corto, la junta no llega a la velocidad pedida y no hay ningún error que lo diga: simplemente va lenta. padre: ruta del objeto del que cuelga, por ejemplo el chasis de un robot.

Dos cosas que cuesta descubrir a solas:

Una junta se mueve a lo largo de su propio +Z. Para una rueda que avance hacia +X, su eje tiene que quedar sobre Y: eje='y'. Esta tool aplica el giro por ti.
El motor no obedece hasta que se le pone el modo de control dinámico. Es una propiedad de la junta, no un argumento de la llamada de creación, y una junta sin ella se queda quieta pase lo que pase.

Después de crearla: cuelga la rueda de la junta con emparentar_objeto, dale masa con fijar_dinamica, y muévela con fijar_velocidad_junta.

Input Schema

TableJSON Schema

Name	Required	Default
`x`	No
`y`	No
`z`	No
`eje`	No	z
`modo`	No	velocidad
`tipo`	No	rotativa
`alias`	No	Junta
`padre`	No	mundo
`par_maximo`	No

Output Schema

TableJSON Schema

Name	Required	Description	Default
`result`	Yes

Schema Changelog

Changes observed during successful MCP inspections.

Addedv0.4.0Aug 26, 2026

TDQS

A4.6/5.0

Behavior5/5

Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?

With no annotations provided, the description fully carries the behavioral burden. It discloses non-obvious facts: the joint moves along its own +Z, the tool applies the axis rotation automatically, the motor stays inert until dynamic control mode is set, and insufficient par_maximo causes silent slow behavior with no error.

Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.

Conciseness5/5

Is the description appropriately sized, front-loaded, and free of redundancy?

The description is well-structured: purpose, parameter legend, two hard-to-discover notes, and follow-up steps. Every section adds non-obvious value, and the most important behavioral caveats are explicitly highlighted rather than buried.

Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.

Completeness4/5

Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?

For a 9-parameter creation tool with no annotations and a 0% schema description coverage, the description covers the essential creation semantics, hidden behavior, and required follow-up actions. The output schema handles return values. The main gap is the undocumented x/y/z and alias parameters, which prevents full completeness.

Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.

Parameters4/5

Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?

Schema description coverage is 0%, so the description is the only documentation for parameters. It thoroughly explains tipo, eje, modo, par_maximo, and padre with concrete examples and units. However, it omits x, y, z, and alias entirely, leaving those parameters undocumented.

Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.

Purpose5/5

Does the description clearly state what the tool does and how it differs from similar tools?

The description opens with a specific verb and resource: 'Crea una articulación motorizada y la deja lista para recibir órdenes.' It clearly distinguishes this from rigid-union and simulation tools, and the detailed type/mode explanations reinforce what the tool produces.

Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.

Usage Guidelines4/5

Does the description explain when to use this tool, when not to, or what alternatives exist?

The description gives clear usage context: it explains when to use each mode, warns about axis orientation, and explicitly lists the post-creation workflow with emparentar_objeto, fijar_dinamica, and fijar_velocidad_junta. However, it does not state when to prefer an alternative like crear_union_rigida or explicitly list exclusions.

Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.