PyBullet MCP Server

A Model Context Protocol (MCP) server that provides physics simulation capabilities using PyBullet. This server allows external applications to interact with PyBullet physics simulations through standardized MCP protocol endpoints.

Features

🎯 Physics Simulation: Create and manage 3D physics simulations 🧊 Object Management: Load URDF objects, set colors, apply forces ⚡ Real-time Control: Step simulation, set velocities, reset poses 📊 State Monitoring: Query simulation status and object information 🎲 Scene Generation: Create random test scenes with multiple objects

Components

Resources

The server provides access to simulation data through custom bullet:// URIs:

• bullet://simulation/status - Current simulation state and parameters

• bullet://simulation/objects - List of all objects in the simulation

• bullet://simulation/physics_params - Physics world configuration

• bullet://objects/{id} - Individual object details and current state

Tools

The server implements comprehensive physics simulation tools:

• create_simulation: Initialize or reset the physics world

  • Configure gravity, time step, real-time mode

  • Choose between GUI or headless (DIRECT) mode

• load_object: Load URDF objects into the simulation

  • Support for standard PyBullet objects (cube, sphere, r2d2, etc.)

  • Configurable position, orientation, scaling, and name

• set_object_color: Change object appearance

  • Set RGBA color values for visual customization

• apply_force: Apply forces to objects

  • World frame or link frame force application

  • Configurable force vector and application point

• set_velocity: Control object motion

  • Set linear and angular velocities directly

• step_simulation: Advance the physics simulation

  • Single or multiple simulation steps

  • Respects real-time constraints

• get_object_info: Query detailed object state

  • Position, orientation, velocities, and metadata

• create_random_scene: Generate test scenarios

  • Configurable number of objects and area size

  • Random positions, orientations, and colors

• reset_object_pose: Reset object positions

  • Precise position and orientation control

Installation

1. Clone or download this MCP server

2. Install dependencies using uv:

   uv sync --dev --all-extras

Usage

With Claude Desktop

Add to your Claude Desktop configuration:

macOS: ~/Library/Application\ Support/Claude/claude_desktop_config.json Windows: %APPDATA%/Claude/claude_desktop_config.json

{
  "mcpServers": {
    "bullet-mcp-server": {
      "command": "uv",
      "args": [
        "--directory",
        "/path/to/bullet-mcp-server",
        "run",
        "bullet-mcp-server"
      ]
    }
  }
}

Development

Run the server directly:

uv run bullet-mcp-server

Or in development mode:

uv run python -m bullet_mcp_server.server

Example Usage

Once connected to Claude Desktop, you can:

1. Create a physics world: "Create a new physics simulation with standard gravity"

2. Load objects: "Load a cube at position [0, 0, 2] and a sphere at [1, 1, 3]"

3. Apply physics: "Apply a force of [10, 0, 0] to the cube and step the simulation 100 times"

4. Create scenes: "Create a random scene with 15 objects in a 10x10 area"

5. Monitor state: "Show me the current positions and velocities of all objects"

Development

The server is built using:

• PyBullet: Physics simulation engine

• MCP SDK: Model Context Protocol implementation

• uv: Fast Python package manager

• Python 3.8+: Modern Python features

Project Structure

bullet-mcp-server/
├── src/bullet_mcp_server/
│   ├── __init__.py
│   └── server.py          # Main MCP server implementation
├── .github/
│   └── copilot-instructions.md
├── .vscode/
│   └── mcp.json          # VS Code MCP configuration
├── pyproject.toml        # Project configuration
└── README.md

Contributing

1. Fork the repository

2. Create a feature branch

3. Make your changes

4. Add tests if applicable

5. Submit a pull request

License

This project is open source. See the license file for details.

Support

For issues and questions:

• Check the PyBullet documentation: https://pybullet.org/

• Review MCP protocol docs: https://modelcontextprotocol.io/

• Open an issue in this repository ] } }

Development

Building and Publishing

To prepare the package for distribution:

1. Sync dependencies and update lockfile:

uv sync

2. Build package distributions:

uv build

This will create source and wheel distributions in the dist/ directory.

3. Publish to PyPI:

uv publish

Note: You'll need to set PyPI credentials via environment variables or command flags:

• Token: --token or UV_PUBLISH_TOKEN

• Or username/password: --username/UV_PUBLISH_USERNAME and --password/UV_PUBLISH_PASSWORD

Debugging

Since MCP servers run over stdio, debugging can be challenging. For the best debugging experience, we strongly recommend using the MCP Inspector.

You can launch the MCP Inspector via npm with this command:

npx @modelcontextprotocol/inspector uv --directory /home/borges/dev/bullet-mcp-server run bullet-mcp-server

Upon launching, the Inspector will display a URL that you can access in your browser to begin debugging.