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robosimtools-mcp

robosimtools-mcp

by RahulRajelli
OverviewSchemaSourceRelated ServersDiscussionsAdmin
JavaScript
Local

Inspect URDF Structure

robosim_inspect_urdf
Read-onlyIdempotent

Parse a URDF to extract its kinematic structure — links, joints, types, parent-child relationships, axes, root links, and degrees of freedom.

Instructions

Parse a URDF and return its structure — links, joints (type/parent/child/axis), kinematic root links, and degrees of freedom. The 3D viewer's underlying data, for an agent to reason about.

Tool call template

Replace each placeholder with a value matching the input schema. Only required parameters are included; add optional parameters as needed.

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "tools/call",
  "params": {
    "arguments": {
      "urdf": "<urdf>"
    },
    "name": "robosim_inspect_urdf"
  }
}

Input Schema

NameRequiredDescriptionDefault
urdfYesThe URDF XML text.

Schema Changelog

Changes observed during successful MCP inspections.

  1. First observedv0.2.0

TDQS

A4/5.0
Behavior4/5

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

Annotations already declare readOnlyHint true, idempotentHint true, and destructiveHint false. The description adds context about the tool returning structure for the 3D viewer, aligning with annotations. No contradictions.

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?

Two sentences, zero wasted words. First sentence immediately states purpose and output. Second sentence provides context. Front-loaded effectively.

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?

Given the tool's complexity (single param, no output schema), the description adequately explains what is returned and its purpose. Could be slightly more explicit about the response format, but sufficient for agent reasoning.

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

Parameters3/5

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

Schema description covers 100% of the single parameter ('The URDF XML text.'). The tool description adds no further detail, so baseline score of 3 is appropriate.

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?

Description clearly states the verb 'parse' and resource 'URDF structure', listing specific elements returned (links, joints, kinematic root links, degrees of freedom). It distinguishes from sibling tools (e.g., conversion, validation) by focusing on structural inspection.

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

Usage Guidelines3/5

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

Description implies usage for reasoning about robot structure but does not explicitly state when to use this tool versus alternatives like robosim_validate_urdf or robosim_urdf_to_mjcf. No when-not-to-use guidance is provided.

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

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