Robotics & Spatial Vision MCP

Point cloud ICP alignment, Recast navmesh baking, robot arm inverse kinematics, and LIDAR ground plane filtering for physical AI agents.

Part of the WHAM ENGINE fleet of deterministic AI agent micro-services with automated Base L2 HTTP 402 (x402) USDC micropayments.

Tools Included in this Suite (5 Tools)

• pointcloud_icp_rigid_registration: Iterative Closest Point (ICP) algorithm aligning two unorganized 3D point clouds with robust Tukey loss weighting to filter noisy scan outliers.
• navmesh_recast_baking_validator: Generates and audits Recast 3D navigation meshes for autonomous agents, checking maximum slope climbing, step-height clearance, and unreachable islands.
• robot_arm_inverse_kinematics_ccd: Cyclic Coordinate Descent (CCD) and FABRIK solver computing 6-DOF robotic manipulator joint angles with strict joint-angle limit enforcement.
• lidar_ground_plane_ransac_filter: RANSAC plane segmentation isolating ground terrain from foreground obstacles and vehicles in dense unorganized LIDAR point clouds.
• camera_intrinsics_projection_matrix: Computes 4x4 perspective and orthographic camera projection matrices, mapping FOV, focal length, sensor dimensions, and near/far clipping planes.

Recommended Workflow

A robotics agent receives multi-sensor LIDAR and camera frames -> runs RANSAC ground plane segmentation -> aligns point clouds using ICP -> computes inverse kinematics to reach an obstacle-free target on a validated Recast navigation mesh.

Quickstart Configuration

Add this server to your claude_desktop_config.json:

{
  "mcpServers": {
    "robotics-spatial-vision-mcp": {
      "command": "npx",
      "args": ["-y", "@whambammy/robotics-spatial-vision-mcp"],
      "env": {
        "PAYMENT_WALLET": "0x9793E7269b3301893318dEa8338576Ba612F39B3",
        "BASE_RPC_URL": "https://mainnet.base.org"
      }
    }
  }
}

Or connect the skill directly via Smithery:

smithery skill add whambammy/robotics-spatial-vision-mcp