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robosimtools-mcp

robosimtools-mcp

by RahulRajelli
OverviewSchemaSourceRelated ServersDiscussionsAdmin
JavaScript
Local

URDF to MJCF

robosim_urdf_to_mjcf
Read-onlyIdempotent

Convert URDF robot models to MuJoCo MJCF XML with automatic correction of half-extents, radians, and nested body tree structure.

Instructions

Convert a URDF to MuJoCo MJCF XML (correct half-extents, radians, nested body tree).

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_urdf_to_mjcf"
  }
}

Input Schema

NameRequiredDescriptionDefault
urdfYesThe URDF XML text.

Schema Changelog

Changes observed during successful MCP inspections.

  1. First observedv0.2.0

TDQS

A3.5/5.0
Behavior3/5

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

Annotations already indicate readOnlyHint=true, destructiveHint=false, and idempotentHint=true, so safety profile is clear. The description adds context about transformation specifics (half-extents, radians, nested body tree), but does not disclose output format (no output schema) or error behavior, which are relevant beyond annotations.

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 a single, front-loaded sentence that efficiently conveys the core purpose and key transformation details with zero wasted words.

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

Completeness3/5

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

Given the tool's simplicity (1 parameter, no output schema) and the presence of annotations, the description is adequate but could be improved by mentioning the output format (MJCF XML) or any constraints (e.g., validation, file size limits). The lack of output schema increases the need for such information.

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?

The input schema already describes the sole parameter 'urdf' as 'The URDF XML text.' (100% schema coverage). The description adds no additional semantics beyond what the schema provides, so the 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?

The description clearly states the tool converts a URDF to MJCF XML, uses a specific verb ('Convert'), and adds transformation details ('correct half-extents, radians, nested body tree'). This clearly distinguishes it from sibling tools like robosim_inspect_urdf or robosim_validate_urdf.

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

Usage Guidelines2/5

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

No guidance is provided on when to use this tool versus alternatives (e.g., when to prefer it over robosim_sdf_to_urdf or robosim_step_to_urdf). There is no mention of prerequisites, limitations, or when not to use it.

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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