Pybullet MCP Server

What it is

A server over the PyBullet physics engine. Several independent simulations can be alive at once; you add shapes or load a robot from a URDF, step time forward, and query state, contacts and rendered images.

What you get

• Simulations created with the gravity you choose, listed, stepped forward and torn down, with a configurable timestep (create_simulation, list_simulations, step_simulation, set_timestep, destroy_simulation)
• Primitive shapes and URDF models placed in the world, repositioned, and queried for position, orientation and velocity (add_box, add_sphere, add_cylinder, add_capsule, load_urdf, set_object_pose, get_object_state)
• Forces, torques and velocities applied, and physics properties like mass, friction, restitution and damping changed at runtime and read back (apply_force, apply_torque, set_object_velocity, change_dynamics, get_dynamics_info)
• Robot control: how many joints a model has, each joint's limits and axis, its live position and velocity, motor control by position, velocity or torque, and inverse kinematics for an end effector (get_num_joints, get_joint_info, get_joint_state, set_joint_motor_control, calculate_inverse_kinematics)
• Ray casting, singly or in batches, for obstacle detection and lidar-style sensing (ray_test, ray_test_batch)
• Rendered colour, depth and segmentation images from a virtual camera you position yourself (compute_view_matrix, compute_view_matrix_from_yaw_pitch, compute_projection_matrix, get_camera_image)
• Joints between objects, and a generator that writes a URDF for a hinge joint the runtime constraint interface cannot create (create_constraint, remove_constraint, generate_revolute_joint)
• Contact points across the whole world or between one pair, with positions, normals and forces (get_all_collisions, get_collisions_for_pair)
• The world saved to a file and restored later, constraints included (save_simulation, load_simulation)
• Debug rendering of contacts and frames, and camera control, when the graphical mode is on (enable_debug_visualization, set_camera)

Requirements

Python with PyBullet and FastMCP installed, in a virtual environment. It runs headless by default; the graphical mode needs a display, and only one graphical simulation can be alive at a time. Vectors must be given complete — gravity, positions, forces and orientations all take their full set of components — and mass must be positive, so a static ground plane is made heavy rather than massless.

Setup effort

Follow the published steps — python -m venv venv

Tools you get

37 tools named in the project's documentation.

Requires

• Python 3.9 or higher
• pip package manager
• Virtual environment (recommended)
• Only one GUI simulation can be active at a time (PyBullet limitation)

Where it runs

The documented client runs the server on your machine.