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embodied-mcp

Name: embodied-mcp
Author: aryanmangal769

by aryanmangal769

Overview Schema Related Servers Score Discussions

Python

Local

embodied-nav-mcp

一个语言模型，可以环顾房间，走向它命名的物体，数出所见之物，并在完成时停下。

模型决定做什么。传感器决定物体在哪里。

工具

工具	功能
`get_view`	来自360°相机的四个透视面，加上位姿
`ground`	指代表达式 → 像素框 → 激光雷达米数 → 转换器吸附的路点
`drive_to`	发布一个地图坐标系下的 `(x, y)` 并等待到达或稳定
`stop`	停车，使规划器不再追逐最后一个路点
`parse_numerical`	将计数问题拆分为目标/锚点
`count_in_view`	仅统计此视角；每个实例都通过激光雷达提升
`commit_count`	按位置聚类观察；发布整数
`publish_object`	最后一个 `ground` 的激光雷达 AABB；发布3D标记

commit_count 不从模型获取数字。四个枕头的两个视角变成4，而不是8。

几何部分来自 Team Xiao Hei 的 feat/xiao-hei-instruction-merge 的 Type 3 栈：尺寸门、盲锥处理、转换器稳定位姿、退出时停车。

安装

uv sync --extra dev
export ANTHROPIC_API_KEY=...
uv run pytest

Python 3.11+。真实机器人/仿真需要 ROS Jazzy 和自主栈。测试使用假机器人，两者都不需要。

尝试

# Dry run, no ROS
uv run embodied-mcp-agent --fake "How many blue chairs are between the table and the wall?"
uv run embodied-mcp-agent --fake "Find the potted plant on the kitchen island closest to the fridge."
uv run embodied-mcp-agent --fake "Take the path near the window to the fridge."

在机器人（或挑战容器）上，栈已启动时：

uv run embodied-mcp-challenge
# evaluators still run: ros2 launch dummy_vlm dummy_vlm.launch

embodied-mcp --attach-ros 是通过 stdio MCP 的相同工具。挑战节点在进程内调用它们：机器人容器没有用于远程 MCP 连接器的公共 URL。

CMU VLN 挑战

即插即用适配器：examples/cmu_vln/。包名 dummy_vlm 保持不变。

类型	工具	ROS 输出
数值	`parse_numerical`, `count_in_view`, `commit_count`	`/numerical_response`
物体指代	`ground`, `publish_object`	`/selected_object_marker`
指令跟随	`get_view`, `ground`, `drive_to`, `stop`	`/way_point_with_heading`

允许的传感器：/camera/image、/registered_scan、/terrain_map、/terrain_map_ext、/state_estimation。到达状态是 /state_estimation，而不是 /way_point_reached。每个进程一个问题。

配置

变量	默认值
`ANTHROPIC_API_KEY`	—	必需
`EMBODIED_MCP_MODEL`	`claude-opus-5`	主机和像素接地/计数模型
`EMBODIED_MCP_BUDGET_S`	`540`	从进程启动起的秒数
`XIAO_HEI_IMAGE_TOPIC`	`/camera/image`	相机话题

许可证

MIT。内置的几何和 ROS I/O 来自 Team Xiao Hei；参见 NOTICE。

This server cannot be installed

license - not tested

Not graded

quality - not tested

maintenance

How are these scores calculated?

Maintenance

–Maintainers

–Response time

–Release cycle

–Releases (12mo)

Commit activity

Resources

GitHub Repository

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