diff --git a/.gitignore b/.gitignore index 4045db012e..1240a210ef 100644 --- a/.gitignore +++ b/.gitignore @@ -36,8 +36,8 @@ __pycache__ # node env (used by devcontainers cli) node_modules -package.json -package-lock.json +/package.json +/package-lock.json # Ignore build artifacts dist/ diff --git a/README.md b/README.md index e07d623300..c8ecd0e63f 100644 --- a/README.md +++ b/README.md @@ -65,7 +65,7 @@ Dimensional is agent native -- "vibecode" your robots in natural language and bu

Agentive Control, MCP

- "hey Robot, go find the kitchen"
Watch video + "hey Robot, go find the kitchen"
Watch video
Run with OpenClaw

Spatial Memory

diff --git a/dimos/agents/mcp/README.md b/dimos/agents/mcp/README.md index f9e887beb1..c532c1b4d5 100644 --- a/dimos/agents/mcp/README.md +++ b/dimos/agents/mcp/README.md @@ -1,55 +1,142 @@ -# DimOS MCP Server +# DimOS MCP Server with OpenClaw -Expose DimOS robot skills to Claude Code via Model Context Protocol. +The OpenClaw plugin lives at `dimos/web/plugin_openclaw/`. It bridges DimOS MCP tools into the OpenClaw agent system. -## Setup +## How It Works + +1. DimOS starts a FastAPI MCP server on port 9990, exposing robot skills as JSON-RPC tools +2. The OpenClaw plugin discovers these tools on startup and registers them with the OpenClaw agent +3. User sends natural language commands via OpenClaw, which the agent translates into MCP tool calls +4. Flow: User → OpenClaw Agent → Plugin → HTTP/JSON-RPC → DimOS MCP → Robot + +## Prerequisites + +If you haven't cloned and installed DimOS yet, follow the [main README](../../README.md) first. + +Install pnpm: + +```bash +curl -fsSL https://get.pnpm.io/install.sh | sh - +``` + +## Terminal 1 — DimOS MCP server + +Install dependencies: ```bash uv sync --extra base --extra unitree ``` -Add to Claude Code (one command) +For hardware (set `ROBOT_IP` in your environment): ```bash -claude mcp add --transport http --scope project dimos http://localhost:9990/mcp +export ROBOT_IP= +uv run dimos run unitree-go2-agentic-mcp +``` + +For simulation: + +```bash +uv run dimos --simulation run unitree-go2-agentic-mcp ``` -Verify that it was added: +## Terminal 2 — OpenClaw gateway + +First time only — install and configure the plugin: ```bash -claude mcp list +cd dimos/web/plugin_openclaw +pnpm install +pnpm openclaw plugins install -l . +pnpm openclaw config set plugins.entries.dimos.enabled true +pnpm openclaw config set gateway.mode local ``` -## MCP Inspector +Set your API keys (first time only): -If you want to inspect the server manually, you can use MCP Inspector. +```bash +echo "ANTHROPIC_API_KEY=" >> ~/.openclaw/.env +echo "OPENCLAW_GATEWAY_TOKEN=" >> ~/.openclaw/.env # can be any string, e.g. "test1" +``` -Install it: +Start the gateway: ```bash -npx -y @modelcontextprotocol/inspector +cd dimos/web/plugin_openclaw +pnpm openclaw gateway run --port 18789 --verbose +``` + +You should see `dimos: discovered tool(s)` confirming the plugin loaded. + +## Terminal 3 — Send commands + +```bash +cd dimos/web/plugin_openclaw +pnpm openclaw agent --session-id dimos-test --message "move forward 1 meter" +``` + +Or use the interactive TUI: + +```bash +cd dimos/web/plugin_openclaw +pnpm openclaw tui ``` -It will open a browser window. +# DimOS MCP Server with Claude Code + +## How It Works + +1. DimOS starts a FastAPI MCP server on port 9990, exposing robot skills as JSON-RPC tools +2. Claude Code connects directly to the MCP server over HTTP +3. User sends natural language commands, which Claude translates into MCP tool calls + +## Prerequisites + +If you haven't cloned and installed DimOS yet, follow the [main README](../../README.md) first. + +## Terminal 1 — DimOS MCP server -Change **Transport Type** to "Streamable HTTP", change **URL** to `http://localhost:9990/mcp`, and **Connection Type** to "Direct". Then click on "Connect". +Install dependencies: -## Usage +```bash +uv sync --extra base --extra unitree +``` + +For hardware (set `ROBOT_IP` in your environment): -**Terminal 1** - Start DimOS: ```bash +export ROBOT_IP= uv run dimos run unitree-go2-agentic-mcp ``` -**Claude Code** - Use robot skills: +For simulation: + +```bash +uv run dimos --simulation run unitree-go2-agentic-mcp +``` + +## Terminal 2 — Claude Code + +Add the MCP server (one-time): + +```bash +claude mcp add --transport http --scope project dimos http://localhost:9990/mcp +``` + +Use robot skills: + ``` > move forward 1 meter > go to the kitchen > tag this location as "desk" ``` -## How It Works +# MCP Inspector + +For manual inspection: + +```bash +npx -y @modelcontextprotocol/inspector +``` -1. `McpServer` in the blueprint starts a FastAPI server on port 9990 -2. Claude Code connects directly to `http://localhost:9990/mcp` -3. Skills are exposed as MCP tools (e.g., `relative_move`, `navigate_with_text`) +Change **Transport Type** to "Streamable HTTP", **URL** to `http://localhost:9990/mcp`, and **Connection Type** to "Direct". Click "Connect". diff --git a/dimos/web/plugin_openclaw/index.ts b/dimos/web/plugin_openclaw/index.ts new file mode 100644 index 0000000000..117936c6c8 --- /dev/null +++ b/dimos/web/plugin_openclaw/index.ts @@ -0,0 +1,223 @@ +import { execFileSync } from "node:child_process"; +import type { OpenClawPluginApi } from "openclaw/plugin-sdk"; +import { Type } from "@sinclair/typebox"; +import type { AnyAgentTool } from "openclaw/agents/tools/common.js"; + +const DEFAULT_HOST = "127.0.0.1"; +const DEFAULT_PORT = 9990; +const CALL_TIMEOUT_MS = 30_000; + +interface McpToolDef { + name: string; + description: string; + inputSchema: Record; +} + +function getHost(pluginConfig?: Record): string { + if (pluginConfig && typeof pluginConfig.mcpHost === "string" && pluginConfig.mcpHost) { + return pluginConfig.mcpHost; + } + return DEFAULT_HOST; +} + +function getPort(pluginConfig?: Record): number { + if (pluginConfig && typeof pluginConfig.mcpPort === "number") { + return pluginConfig.mcpPort; + } + return DEFAULT_PORT; +} + +function mcpUrl(host: string, port: number): string { + return `http://${host}:${port}/mcp`; +} + +/** Send a JSON-RPC request to the DimOS MCP HTTP server. */ +async function rpc( + url: string, + method: string, + params?: Record, + timeoutMs: number = CALL_TIMEOUT_MS, +): Promise { + const body = { + jsonrpc: "2.0", + id: 1, + method, + ...(params ? { params } : {}), + }; + const controller = new AbortController(); + const timer = setTimeout(() => controller.abort(), timeoutMs); + try { + const res = await fetch(url, { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify(body), + signal: controller.signal, + }); + if (!res.ok) { + throw new Error(`HTTP ${res.status}: ${await res.text()}`); + } + const json = (await res.json()) as { result?: unknown; error?: { message: string } }; + if (json.error) { + throw new Error(json.error.message); + } + return json.result; + } finally { + clearTimeout(timer); + } +} + +/** Convert a JSON Schema properties object into a TypeBox Type.Object schema. */ +function jsonSchemaToTypebox( + inputSchema?: Record, +): ReturnType { + if (!inputSchema) { + return Type.Object({}); + } + + const properties = (inputSchema.properties ?? {}) as Record>; + const required = new Set((inputSchema.required ?? []) as string[]); + const tbProps: Record = {}; + + for (const [key, prop] of Object.entries(properties)) { + const desc = typeof prop.description === "string" ? prop.description : undefined; + let inner; + switch (prop.type) { + case "number": + case "integer": + inner = Type.Number({ description: desc }); + break; + case "boolean": + inner = Type.Boolean({ description: desc }); + break; + case "array": + inner = Type.Array(Type.Unknown(), { description: desc }); + break; + case "object": + inner = Type.Record(Type.String(), Type.Unknown(), { description: desc }); + break; + default: + inner = Type.String({ description: desc }); + break; + } + tbProps[key] = required.has(key) ? inner : Type.Optional(inner); + } + + // @ts-expect-error -- heterogeneous property map built dynamically + return Type.Object(tbProps); +} + +/** + * Discover MCP tools synchronously by sending HTTP requests to the DimOS MCP server. + * Uses a child process so we can block the main thread during plugin registration. + */ +function discoverToolsSync(host: string, port: number): McpToolDef[] { + const url = mcpUrl(host, port); + const script = ` +const http = require('http'); +function post(body) { + return new Promise((resolve, reject) => { + const data = JSON.stringify(body); + const req = http.request(${JSON.stringify(url)}, { + method: 'POST', + headers: { 'Content-Type': 'application/json', 'Content-Length': Buffer.byteLength(data) }, + }, (res) => { + let buf = ''; + res.on('data', d => buf += d); + res.on('end', () => { + if (res.statusCode !== 200) { reject(new Error('HTTP ' + res.statusCode + ': ' + buf)); return; } + resolve(JSON.parse(buf)); + }); + }); + req.on('error', reject); + req.write(data); + req.end(); + }); +} +(async () => { + await post({jsonrpc:'2.0',id:1,method:'initialize',params:{protocolVersion:'2024-11-05',capabilities:{},clientInfo:{name:'openclaw-dimos',version:'0.0.1'}}}); + const res = await post({jsonrpc:'2.0',id:2,method:'tools/list',params:{}}); + if (!res.result || !Array.isArray(res.result.tools)) { process.stderr.write('Unexpected response: ' + JSON.stringify(res)); process.exit(1); } + process.stdout.write(JSON.stringify(res.result.tools)); +})().catch(e => { process.stderr.write(e.message); process.exit(1); }); +`; + const result = execFileSync("node", ["-e", script], { + timeout: 10_000, + encoding: "utf-8", + }); + return JSON.parse(result); +} + +/** Track whether we have sent an initialize handshake from the main process. */ +let initialized = false; + +/** Call an MCP tool via HTTP POST to the DimOS server. */ +async function callTool( + host: string, + port: number, + name: string, + args: Record, +): Promise { + const url = mcpUrl(host, port); + if (!initialized) { + await rpc(url, "initialize", { + protocolVersion: "2024-11-05", + capabilities: {}, + clientInfo: { name: "openclaw-dimos", version: "0.0.1" }, + }); + initialized = true; + } + const result = (await rpc(url, "tools/call", { name, arguments: args })) as { + content?: Array<{ type: string; text?: string }>; + }; + const content = result?.content; + if (Array.isArray(content)) { + return ( + content + .filter((c) => c.type === "text") + .map((c) => c.text) + .join("\n") || "No content returned" + ); + } + return content != null ? JSON.stringify(content) : "No content returned"; +} + +export default { + id: "dimos", + name: "Dimos MCP Bridge", + description: "Exposes tools from the dimos MCP server as OpenClaw agent tools", + + register(api: OpenClawPluginApi) { + const host = getHost(api.pluginConfig); + const port = getPort(api.pluginConfig); + + let mcpTools: McpToolDef[]; + try { + mcpTools = discoverToolsSync(host, port); + api.logger.info(`dimos: discovered ${mcpTools.length} tool(s) from ${host}:${port}`); + } catch (err) { + api.logger.error(`dimos: failed to discover tools from ${host}:${port}: ${err}`); + return; + } + + for (const mcpTool of mcpTools) { + const parameters = jsonSchemaToTypebox(mcpTool.inputSchema); + const tool: AnyAgentTool = { + name: mcpTool.name, + label: mcpTool.name, + description: mcpTool.description || "", + parameters, + async execute( + _toolCallId: string, + params: Record, + ): Promise<{ content: Array<{ type: "text"; text: string }>; details: unknown }> { + const text = await callTool(host, port, mcpTool.name, params); + return { + content: [{ type: "text" as const, text }], + details: { tool: mcpTool.name, params }, + }; + }, + }; + api.registerTool(tool, { name: mcpTool.name }); + } + }, +}; diff --git a/dimos/web/plugin_openclaw/openclaw.plugin.json b/dimos/web/plugin_openclaw/openclaw.plugin.json new file mode 100644 index 0000000000..1005ad4e60 --- /dev/null +++ b/dimos/web/plugin_openclaw/openclaw.plugin.json @@ -0,0 +1,19 @@ +{ + "id": "dimos", + "name": "Dimensional MCP Bridge", + "description": "Exposes tools from the dimos MCP server as OpenClaw agent tools", + "configSchema": { + "type": "object", + "additionalProperties": false, + "properties": { + "mcpHost": { + "type": "string", + "description": "DimOS MCP server host (defaults to '127.0.0.1')" + }, + "mcpPort": { + "type": "number", + "description": "DimOS MCP server port (defaults to 9990)" + } + } + } +} diff --git a/dimos/web/plugin_openclaw/package.json 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zod-to-json-schema@3.25.1(zod@3.25.76): + dependencies: + zod: 3.25.76 + + zod-to-json-schema@3.25.1(zod@4.3.6): + dependencies: + zod: 4.3.6 + + zod@3.25.76: {} + + zod@4.3.6: {} diff --git a/pyproject.toml b/pyproject.toml index cb4607ced5..507fd1c58a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -414,6 +414,7 @@ max_size_kb = 50 ignore = [ "uv.lock", "*/package-lock.json", + "*/pnpm-lock.yaml", "dimos/dashboard/dimos.rbl", "dimos/web/dimos_interface/themes.json", "dimos/manipulation/manipulation_module.py",