# Install dependencies
pip install ur-rtde mcp

# Run MCP server
python src/ur_rtde_mcp_server.py

# Or with uv
uv venv --python 3.11
source .venv/bin/activate
uv pip install ur-rtde mcp
python src/ur_rtde_mcp_server.py

{
  "mcpServers": {
    "rosclaw-ur-rtde": {
      "command": "python",
      "args": ["/path/to/rosclaw-ur-rtde-mcp/src/ur_rtde_mcp_server.py"],
      "transportType": "stdio",
      "description": "UR via RTDE with Gripper Support",
      "sdk_version": "1.0.0+",
      "sdk_source": "https://gitlab.com/sdurobotics/ur_rtde"
    }
  }
}

User: Connect to the robot at 192.168.1.100, move to home position, then check TCP force.

LLM calls:
1. connect_robot("192.168.1.100")
2. robot_power_control("brake_release")   # if needed
3. move_joint([0, -1.57, 0, -1.57, 0, 0])  # home position
4. get_tcp_force()

User: Connect to the robot and gripper, then pick up an object.

LLM calls:
1. connect_robot("192.168.1.100")
2. connect_gripper()                     # Connects to same IP, port 63352
3. gripper_activate()                    # Activates + auto-calibrates
4. gripper_open()                        # Open before picking
5. move_joint([...])                     # Move above object
6. gripper_close(speed=128, force=100)   # Close with controlled force
7. move_joint([...])                     # Move to drop position
8. gripper_open()                        # Release object

# Move to specific Cartesian pose [x, y, z, rx, ry, rz]
move_joint_ik(
    pose=[-0.212, 0.319, 0.41, -3.1416, 0, 0],  # meters + rotation vector
    speed=0.5,                                    # rad/s (conservative)
    acceleration=0.8                              # rad/s²
)

LLM (Claude)
    │ MCP tools (semantic level)
    ▼
ur_rtde_mcp_server.py   (FastMCP, stdio)
    │
ur_rtde_bridge.py       (thread-safe wrapper, threading.Lock)
    ├───────────────────────────────────────┐
    │                                       │
ur_rtde Python bindings              robotiq_gripper.py
    │ TCP port 30004                       │ TCP port 63352
    ▼                                       ▼
UR Robot Controller (RTDE)         Robotiq Gripper (UR Cap)

rosclaw-ur-rtde-mcp/
├── src/
│   ├── ur_rtde_mcp_server.py   # MCP server with FastMCP (~600 lines)
│   ├── ur_rtde_bridge.py       # Thread-safe bridge for RTDE/IO/Dashboard (~270 lines)
│   └── robotiq_gripper.py      # Robotiq gripper direct TCP control (297 lines)
├── tests/
│   ├── test_ur_rtde_bridge.py  # Unit tests for bridge (15 passed)
│   ├── test_robotiq_gripper.py # Unit tests for gripper (15 passed)
│   ├── system_test_moveJ_IK.py # System test for moveJ_IK feature (hardware required)
│   ├── full_function_test.py   # Complete system test for all MCP tools (hardware required)
│   ├── diagnose_failures.py    # Diagnostic tool for troubleshooting
│   └── failure_analysis_report.md # Analysis of test failures
├── config/
│   └── mcp_config.json         # MCP client configuration
├── pyproject.toml
├── README.md
└── LICENSE

# Run all unit tests (30 total, no hardware required)
pytest tests/test_ur_rtde_bridge.py tests/test_robotiq_gripper.py -v

# Run specific test file
pytest tests/test_ur_rtde_bridge.py -v
pytest tests/test_robotiq_gripper.py -v

# Test moveJ_IK feature (requires robot at ROBOT_IP in the script)
python tests/system_test_moveJ_IK.py

# Full functional test of all MCP tools
python tests/full_function_test.py

# Diagnostic tool for troubleshooting
python tests/diagnose_failures.py