This server exposes 12 robotics and simulation tools to AI agents, enabling local (no-upload) computation across a wide range of robotics engineering tasks.

• Convert 3D Rotations (robosim_convert_rotation): Convert between quaternions, Euler angles (12 sequences, intrinsic/extrinsic), 3×3 rotation matrices, and axis-angle representations, including URDF roll-pitch-yaw output.

• DH Parameters to URDF (robosim_dh_to_urdf): Generate a URDF joint chain from a Denavit-Hartenberg table, supporting both standard and modified (Craig) conventions.

• Diff ArduPilot Param Files (robosim_diff_ardupilot_params): Compare two ArduPilot .param files and report changed, added, and removed parameters with float-epsilon equality.

• Mesh Mass Properties (robosim_mesh_mass_properties): Compute mass, center of mass, and full inertia tensor from a closed STL or OBJ mesh file.

• Validate URDF (robosim_validate_urdf): Check a URDF for structural problems including kinematic tree integrity, inertia sanity, joint limits, and parser-divergence pitfalls.

• Inspect URDF Structure (robosim_inspect_urdf): Parse a URDF and extract its links, joints, kinematic root links, and degrees of freedom.

• Xacro to URDF (robosim_xacro_to_urdf): Expand Xacro properties, macros, conditionals, and includes into plain URDF XML.

• URDF to MJCF (robosim_urdf_to_mjcf): Convert a URDF to MuJoCo MJCF XML with correct half-extents, radians, and nested body tree.

• SDF to URDF (robosim_sdf_to_urdf): Convert a Gazebo SDF model to URDF, resolving model-frame poses into correct relative joint origins.

• STEP/IGES CAD to URDF (robosim_step_to_urdf): Convert STEP or IGES CAD files to URDF with per-solid mass, center of mass, and inertia computed via the OpenCascade (OCCT) WASM kernel.

• Generate CycloneDX SBOM (robosim_generate_sbom): Produce a CycloneDX 1.6 Software Bill of Materials from lockfiles (npm, pip, Cargo, or Go).

• EU Cyber Resilience Act Readiness (robosim_cra_readiness): Walk through the CRA scoping decision tree (Regulation (EU) 2024/2847) to determine obligations, key dates, and penalties.

1. Click on "Install Server".

2. Wait a few minutes for the server to deploy. Once ready, it will show a "Started" state.

3. In the chat, type @ followed by the MCP server name and your instructions, e.g., "@robosimtools-mcp Convert quaternion (w=0.707, x=0, y=0, z=0.707) to roll-pitch-yaw"

That's it! The server will respond to your query, and you can continue using it as needed.

Here is a step-by-step guide with screenshots.