Robot MCP Server
SO-ARM100 and LeKiwi robotic arm hardware control via MCP integration.
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Overview
Robot MCP Server provides a bridge for AI agents to interact with physical robotics hardware, specifically supporting the SO-ARM100/101 and partially the LeKiwi platform. By exposing robot controls to MCP-compliant clients, the server allows AI models to manipulate arm joints and interact with hardware directly through your assistant. The repository includes a CLI AI agent capable of utilizing Claude, Gemini, or GPT models for robot operation. Users can verify hardware calibration and connection status via provided scripts before enabling AI-driven control, ensuring the robot is properly configured before command execution.
Our verdict
With a high-risk security score of 24/100, this server should be approached with caution. It lacks a read-only mode and requires direct access to hardware control interfaces, which significantly increases the risk if used in environments where untrusted models might gain execution access. Furthermore, the repository has not received updates in nearly a year, indicating potential maintenance and compatibility gaps with current robotics libraries.
- Native support for SO-ARM100 and LeKiwi robotic hardware.
- Zero direct dependencies minimize the software supply-chain surface area.
- Includes manual keyboard control scripts for safety testing.
- Distributed under the permissive Apache-2.0 open-source license.
- Security score is 24/100 due to high-risk configuration.
- No read-only mode prevents restriction of hardware write commands.
- Repository has not been updated in approximately 354 days.
- Single-contributor maintenance model creates significant bus-factor risk.
Compatibility
| Client | Local | Docker | Remote | Read-only |
|---|---|---|---|---|
| Claude Desktop | ||||
| Cursor | ||||
| VS Code | ||||
| Windsurf | ||||
| ChatGPT |
Frequently asked questions
›Which robots are compatible with this MCP server?
This server is designed for SO-ARM100 and SO-ARM101 robots, with partial support for the LeKiwi platform, excluding mobile base control.
›How do I calibrate the robot after updates?
You must update the MOTOR_NORMALIZED_TO_DEGREE_MAPPING values in config.py whenever you recalibrate the robot to account for LeRobot's use of normalized joint states.
›Are there any costs associated with using this MCP server?
While the server software is free, using it with AI agents requires an MCP client and an LLM, which may incur significant token usage costs due to image processing.
›What transport methods are supported for MCP connectivity?
The server supports stdio, sse, and streamable-http transport protocols.
›What is the recommended setup process for the robot hardware?
You must connect the SO-ARM100 via USB, update config.py with your specific serial port or robot IP, and verify connectivity by checking positions and testing manual keyboard control.
›How do I handle code breaking changes from LeRobot updates?
If you need to follow the original tutorial video exactly, you should use the v0.0.1 release of this repository.
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