Robotics Control MCP Server

Robotics Control MCP Server

By MEOK AI Labs | meok.ai

IoT and robotics interface for AI agents. Control hardware devices over serial ports and HTTP -- Arduino, Raspberry Pi, 3D printers, CNC machines, servo controllers, and custom robots. Part of the HARVI Humanoid Robotics project.

Tools

Installation

# Core
pip install mcp pyserial

# Optional: for HTTP device communication
pip install httpx

Usage

Run the server

python server.py

Claude Desktop config

{
  "mcpServers": {
    "robotics": {
      "command": "python",
      "args": ["/path/to/robotics-control-mcp/server.py"]
    }
  }
}

Example calls

Discover connected devices:

Tool: list_devices
Output: {"discovered_serial": [{"port": "/dev/cu.usbmodem1401", "description": "Arduino Mega 2560", "manufacturer": "Arduino"}], "discovered_count": 1}

Send a command to an Arduino:

Tool: send_command
Input: {"device": "/dev/cu.usbmodem1401", "command": "GET_STATUS", "baudrate": 9600}
Output: {"status": "ok", "response": ["STATUS: READY", "TEMP: 23.5", "BATTERY: 87%"]}

Read a sensor:

Tool: read_sensor
Input: {"device": "/dev/cu.usbmodem1401", "sensor_id": "temperature"}
Output: {"status": "ok", "response": ["temperature=23.5"], "parsed_values": {"temperature": 23.5}}

Control a servo:

Tool: set_servo
Input: {"device": "/dev/cu.usbmodem1401", "channel": 0, "angle": 90.0, "speed": 50}
Output: {"status": "ok", "servo": {"channel": 0, "angle": 90.0, "speed": 50}}

Send G-code to a 3D printer:

Tool: run_gcode
Input: {"device": "/dev/ttyUSB0", "gcode": "G28\nG1 X50 Y50 Z10 F3000\nG1 X100 Y100 F1500", "baudrate": 115200}
Output: {"total_lines": 3, "successful": 3, "failed": 0}

Send commands to an HTTP device (ESP32, Raspberry Pi):

Tool: send_command
Input: {"device": "http://192.168.1.100/api/command", "command": "LED_ON"}
Output: {"status": "ok", "response": {"led": "on", "brightness": 255}}

Emergency stop:

Tool: emergency_stop
Input: {"device": "/dev/ttyUSB0"}
Output: {"status": "activated", "emergency_stop": true, "message": "EMERGENCY STOP ACTIVATED. All commands blocked."}

Release emergency stop:

Tool: emergency_stop
Input: {"release": true}
Output: {"status": "released", "emergency_stop": false, "message": "Emergency stop released. Commands enabled."}

Safety Features

• Emergency stop: Software-level kill switch blocks ALL commands to ALL devices when active
• Hardware E-stop: Sends M112 (serial) or ESTOP (HTTP) to the physical device
• G-code validation: Only valid G-code characters are accepted
• G-code line limit: Free tier max 50 lines per call to prevent runaway jobs
• Servo bounds: Angle validated to 0-180 degrees, channel to 0-31
• Timeouts: All serial/HTTP calls have configurable timeouts
• No persistent connections: Each command opens and closes its own connection

Supported Devices

HARVI Integration

This server is part of MEOK AI Labs' HARVI humanoid robotics project. HARVI uses SO-101 servo arms with LeRobot ML inference, connected through this MCP server for AI-driven teleoperation and autonomous control.

Pricing

License

MIT