Skip to main content
Glama
YidaYang

embodify-mcp

by YidaYang
OverviewSchemaSourceRelated ServersDiscussionsAdmin
Python
Local

move_relative

Move a simulated robot end effector by a relative XYZ offset and optional RPY rotation; reports stop reason, achieved displacement, and remaining distance.

Instructions

Move the end effector by delta_xyz meters in the FakeSim world frame (z up, table surface at z=0.80 m), optionally rotating by delta_rpy about the robot base X/Y/Z axes (radians). The server approaches the target step by step with P control and returns only when a definite stop condition triggers, not after a fixed number of steps. action.stop_reason says why the call stopped, one of four:

  • reached: Within the target tolerance (8 mm in position, 0.02 rad in orientation); the motion is complete.

  • stalled: Barely moved for 3 consecutive steps (less than 1 mm in total) without reaching the target, which usually means something is blocking it: the table, an object, or a joint limit. Repeating the same command has no effect; change direction, or lift or back off first. This is the main signal of contact.

  • step_cap: Hit the per-call internal step limit while the end effector was still moving toward the target. Call again with the remaining displacement in the same direction to continue.

  • budget: The episode's total step budget ran out during the motion; only stop_episode can be called afterwards. Motion is a best-effort approach and may fall short of the requested delta: judge progress by action.achieved_delta_xyz (actual displacement of this call, meters) and action.remaining_distance_m (meters still missing to the requested target), and do not assume the request was achieved. Returns images (two separate PNGs), state (eef_pos_m is the end-effector XYZ position in meters, eef_rpy_rad the RPY orientation in radians, gripper holds command/opening_m), action (the requested delta_xyz/delta_rpy, executed_steps, stop_reason, achieved_delta_xyz, remaining_distance_m), step (simulation steps used after the call), steps_left (simulation steps left) and status (running). When the budget is already 0, returns a step_limit error instead of silently doing nothing.

Input Schema

TableJSON Schema
NameRequiredDescriptionDefault
delta_rpyNo[droll, dpitch, dyaw], increments about the robot base X/Y/Z axes in radians; omit to keep the current orientation.
delta_xyzYes[dx, dy, dz] in meters.

Schema Changelog

Changes observed during successful MCP inspections.

  1. First observedv0.1.0

TDQS

A4.6/5.0
Behavior5/5

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

With no annotations, the description carries the full burden and does so: it discloses best-effort motion, P-control stepping, the four stop conditions with their meanings, the budget exhaustion path (only stop_episode afterwards), and the step_limit error when budget is 0. These are exactly the non-obvious behaviors an agent needs before calling.

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

Conciseness4/5

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

The description is long but information-dense and front-loaded: the core motion semantics come first, then the stop reasons, then the return payload. The stop-reason list is the one section that could be tightened, but every item carries decision-relevant content.

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

Completeness5/5

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

For a 2-parameter motion tool with no output schema and no annotations, the description covers frame conventions, units, failure modes, continuation strategy, and the full return payload (images, state, action fields, step, steps_left, status). Nothing an agent needs to call it correctly is missing.

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 coverage is 100% so the baseline is 3, but the description adds real meaning beyond the schema: the world frame with z up, the table surface at z=0.80 m, that delta_rpy rotates about the robot base X/Y/Z axes in radians, and that omitted delta_rpy keeps the current orientation.

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?

States a specific verb and resource: move the end effector by delta_xyz meters in a named frame, with optional delta_rpy rotation. This is clearly distinct from siblings like set_gripper, observe, or stop_episode, so an agent can select it without ambiguity.

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?

Gives strong operational guidance: how to interpret each stop_reason, that 'stalled' means repeating the same command has no effect and the agent should change direction or lift first, and that 'step_cap' should be followed by another call with the remaining displacement. It doesn't explicitly frame when to prefer another tool, but the conditions are clear.

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

Deploy Server

Other Tools