# srv-d7aoqmh5pdvs7391dcqg

# NWO Robotics MCP Server

## Quick Start

```bash
# Connect this server (installs CLI if needed)
npx -y @smithery/cli@latest mcp add ciprianpater/srv-d7aoqmh5pdvs7391dcqg

# Browse available tools
npx -y @smithery/cli@latest tool list ciprianpater/srv-d7aoqmh5pdvs7391dcqg

# Get full schema for a tool
npx -y @smithery/cli@latest tool get ciprianpater/srv-d7aoqmh5pdvs7391dcqg vla_inference

# Call a tool
npx -y @smithery/cli@latest tool call ciprianpater/srv-d7aoqmh5pdvs7391dcqg vla_inference '{}'
```

## Direct MCP Connection

Endpoint: `https://srv-d7aoqmh5pdvs7391dcqg--ciprianpater.run.tools`

## Tools (70)

- `vla_inference` — Run VLA inference: send instruction + base64 images, receive joint actions
- `edge_inference` — Ultra-low-latency VLA inference via Cloudflare global edge (28ms avg)
- `list_models` — List all available VLA models with capabilities, status, and latency
- `get_model_info` — Get detailed info and benchmark performance for a specific model
- `get_streaming_config` — Get available WebSocket streaming frequencies and chunk size ranges
- `query_robot_state` — Query robot state: joint angles, gripper state, position (x,y,z), battery
- `execute_actions` — Execute a sequence of pre-computed joint action vectors on a robot
- `sensor_fusion` — Run VLA inference fusing camera + lidar + thermal + force + GPS sensor data
- `robot_query` — Quick query: robot active/idle, battery percent, current task
- `get_agent_status` — Get tasks completed and success rate for a robot agent
- `task_planner` — Decompose a complex instruction into ordered subtasks with time estimates
- `execute_subtask` — Execute a numbered subtask from a multi-step plan
- `status_poll` — Poll the progress and status of a running task (completed, progress%, errors)
- `learning_recommend` — Get technique recommendations for a task (grip_force, approach_speed, etc.)
- `learning_log` — Log a completed task execution so the model can learn from it
- `register_agent` — Self-register a new AI agent — returns api_key, agent_id, and 100k free monthly quota
- `check_balance` — Check quota: used this month, remaining, limit, tier, subscription expiry
- `pay_upgrade` — Upgrade tier by paying ETH (prototype=500k/mo ~0.015ETH, production=unlimited ~0.062ETH)
- `create_wallet` — Create a hosted MoonPay wallet so the agent can be funded via credit card
- `register_robot` — Register a new robot entity in the NWO system
- `update_agent` — Update a robot agent's capabilities or operational status
- `get_agent_info` — Get full agent profile: name, type, status, total tasks, success rate
- `nwo_health` — Check NWO API online status and timestamp
- `nwo_whoami` — Get the agent_id, tier, and quota_remaining for the current API key
- `discover_capabilities` — Discover execution modes, robot/task types, available models, sensors, and features
- `dry_run` — Validate task feasibility without executing — safety check, confidence, duration estimate
- `plan_task` — Generate a phased plan: preparation → perception → execution → verification
- `ros2_list_robots` — List all robots currently connected to the ROS2 bridge
- `ros2_robot_status` — Get live status of a specific physical robot via ROS2 bridge
- `ros2_send_command` — Send a named command + joint angles to a physical robot via ROS2 bridge
- `ros2_submit_action` — Submit a computed action sequence directly to a robot via ROS2 bridge
- `ros2_emergency_stop` — Emergency stop a single robot via ROS2 bridge (10ms response)
- `ros2_emergency_stop_all` — Emergency stop ALL connected robots via ROS2 bridge
- `ros2_get_robot_types` — Get all robot types supported by the ROS2 bridge with DOF, speed, and specs
- `simulate_trajectory` — Simulate a trajectory with physics: check feasibility, collisions, time estimate
- `check_collision` — Check a trajectory for collisions with environment obstacles
- `estimate_torques` — Estimate joint torques for a trajectory given payload mass
- `validate_grasp` — Validate whether a grasp will be stable for object shape, mass, and grip force
- `plan_motion` — Plan a collision-free motion path using MoveIt2
- `get_scene_library` — Get available simulation scenes (warehouse, kitchen, outdoor, etc.)
- `generate_scene` — Generate synthetic robot training scenes using NVIDIA Cosmos 3
- `list_embodiments` — List all supported robot embodiments filterable by type
- `get_robot_specs` — Get full specifications for a robot type: DOF, joint limits, sensors, max speed
- `get_normalization` — Get joint normalization parameters (min, max, mean, std) needed for VLA inference
- `download_urdf` — Get URDF robot model XML for a given robot type
- `get_test_results` — Get LIBERO, CALVIN, and SimplerEnv benchmark results for a robot type
- `compare_robots` — Compare multiple robot types on DOF, speed, accuracy, and other fields
- `run_calibration` — Run automatic calibration on a robot (joint offset, force-torque, camera extrinsic)
- `calibrate_confidence` — Calibrate raw model confidence score to a calibrated success probability with CI
- `start_rl_training` — Start an online RL training session with custom reward configuration
- `submit_rl_telemetry` — Submit state/action/reward data to an active RL session for online policy update
- `create_finetune_dataset` — Create a fine-tuning dataset from logged task executions over a date range
- `start_finetune_job` — Start a LoRA fine-tuning job on a base VLA model using a prepared dataset
- `read_tactile` — Read ORCA robot hand tactile sensor data (256 taxels per finger, force, slip)
- `process_tactile` — Process tactile data to assess grip quality, object texture, recommended grip force
- `detect_slip` — Detect object slip by comparing current vs previous tactile readings
- `list_datasets` — List Unitree G1 robot demonstration datasets — 1.54M+ episodes, 430+ hours, LeRobot format
- `cardiac_register_agent` — Register AI agent on Base mainnet. Returns permanent soul-bound rootTokenId.
- `cardiac_identify_agent` — Look up an agent rootTokenId on-chain by their hashed API key
- `cardiac_renew_key` — Renew agent API key binding on Base mainnet (requires EIP-712 agent signature)
- `cardiac_issue_credential` — Issue a verifiable credential to an identity (task_auth, capability, swarm_cmd, emergency)
- `cardiac_check_credential` — Check if a rootTokenId currently holds a valid credential of the given type
- `cardiac_grant_access` — Grant location access credential to an identity for a time window
- `cardiac_get_nonce` — Get EIP-712 signing nonce for a wallet (required before relay message signing)
- `cardiac_check_access` — Check location access for a rootTokenId. Returns granted + deny reason code.
- `cardiac_payment_process` — Process a payment via Cardiac NWOPaymentProcessor smart contract (0x4afa...)
- `oracle_health` — Check Cardiac oracle: health, chain, relayer balance, ECG config
- `oracle_validate_ecg` — Validate ECG biometric data to prove human identity (10/min rate limit)
- `oracle_hash_ecg` — Compute a cardiac hash from ECG RR intervals without full validation
- `oracle_verify` — Verify a recent ECG validation is cached by cardiac hash (in-memory, resets on restart)

```bash
# Get full input/output schema for a tool
npx -y @smithery/cli@latest tool get ciprianpater/srv-d7aoqmh5pdvs7391dcqg <tool-name>
```