myCobot MCP

Overview

This project is a MCP server for myCobot.

This MCP can send simple pick-and-place instructions to myCobot.

Note

This MCP server requires image feedback. Please connect an MCP client that can handle image feedback.

Chat example

demo.mp4

Setup

DDS API Token

This project uses the DDS API for object detection. Please register and issue an API key for DDS.

https://cloud.deepdataspace.com/

Claude-Desktop

If you want to run this project on Ubuntu, you can install Claude-Desktop from the following instructions.

https://github.com/aaddrick/claude-desktop-debian

Edit the claude_desktop_config.json file to add the following:

{
  "mcpServers": {
    "mycobot": {
      "command": "uvx",
      "args": [
        "mycobot-mcp",
        "--settings-path",
        "/path/to/settings.json"
      ],
      "env": {
        "DDS_API_TOKEN": "your-api-token"
      }
    }
  }
}

Or you can clone this repository and run the following command.

git clone https://github.com/neka-nat/mycobot-mcp.git

{
  "mcpServers": {
    "mycobot": {
      "command": "uv",
      "args": [
        "--directory",
        "/path/to/mycobot-mcp/",
        "run",
        "mycobot-mcp",
        "--settings-path",
        "/path/to/settings.json"
      ],
      "env": {
        "DDS_API_TOKEN": "your-api-token"
      }
    }
  }
}

Hardware

This software assumes the following hardware configuration.

• myCobot
• suction-pump
• camera-flange

Parameters

Create a settings.json file to configure the myCobot hardware and the camera. The sample is here.

{
    "camera_id": 0,
    "camera_parameter_path": "/path/to/camera_calibration/mtx_dist.npy",
    "mycobot_settings": {
        "urdf_path": "/path/to/mycobot.urdf",
        "end_effector_name": "camera_flange",
        "port": "/dev/ttyACM0",
        "baud": 115200,
        "default_speed": 40,
        "default_z_speed": 20,
        "suction_pin": 5,
        "command_timeout": 5,
        "use_gravity_compensation": false,
        "end_effector_height": 0.065,
        "object_height": 0.01,
        "release_height": 0.05,
        "places": [
            {
                "name": "home",
                "description": "Home position",
                "position": [0, 20, -130, 20, 0, 0]
            },
            {
                "name": "capture",
                "description": "Camera capture position",
                "position": [0, 0, -30, -60, 0, -45]
            },
            {
                "name": "drop",
                "description": "Position to drop object",
                "position": [-45, 20, -130, 20, 0, 0]
            }
        ]
    }
}

Change port permission

When you connect mycobot, you need to change the permission.

sudo chmod 666 /dev/ttyACM0