This skill server provides MCP-based control for the Fourier GR2 humanoid robot.
Prerequisites
- Python 3.10+
- Fourier GR2 robot connected to the network
- DDS domain ID: 123 (configurable in skill.py)
Installation
# Create conda environment
conda create -n fourier-robot python=3.10 -y
conda activate fourier-robot
# Install dependencies
pip install -r requirements.txt
Configuration
Edit skill.py to configure:
- DOMAIN_ID: DDS domain ID (default: 123)
- ROBOT_NAME: Robot name (default: "gr2")
Running the Service
python skill.py
This starts the MCP skill server at http://0.0.0.0:8000.
Available Tools
| Tool | Description |
|---|---|
connect_robot() |
Connect to robot and enter control mode |
disconnect_robot() |
Disconnect and return to stand mode |
wave_hand(wave_count, wave_speed) |
Make robot wave its hand |
thumbs_up() |
Make robot give thumbs up gesture |
move_arm_to_position(positions) |
Move arm to 7-DOF joint positions |
set_hand_gesture(positions) |
Set 6-DOF hand finger positions |
RoboOS Integration
To use with RoboOS, set in RoboOS/slaver/config.yaml:
robot:
name: fourier_gr2
call_type: remote
path: "http://<ROBOT_IP>:8000"
Example Usage
# Via MCP client
await connect_robot()
await wave_hand(wave_count=3, wave_speed=0.3)
await thumbs_up()
await disconnect_robot()