openreality-mcp 0.4.0: export a scene to MuJoCo

openreality-mcp 0.4.0: export a scene to MuJoCo

New tool: export_mujoco. One call takes a scene to a loadable MuJoCo model. It builds (or reuses) the scene's mujoco_mjcf export on the server, downloads it, unpacks it to disk, and returns the path to scene.xml:

import mujoco
model = mujoco.MjModel.from_xml_path("<scene_xml from the tool result>")   # needs mujoco>=3.3

or python -m mujoco.viewer --mjcf=<path>. The export also ships trajectory.csv and a replay.py that flies the scan camera through the scene.

What's in the model

• The scan placed in metres, Z up, with the floor at z=0. Lengths are metric only after you anchor the scene, so export_mujoco is refused (409 metric_scale_required) until you run scene_anchor. The refusal comes back verbatim, with a pointer to the fix.
• Collision is a floor plane plus one upright box per detected object, each box fit to the scan points inside it. The scan mesh is visual only, because MuJoCo collides any mesh as its convex hull, which would turn a room into one solid block. Walls and undetected furniture do not collide. Every export's manifest.json says this in collision_note.

Everything else

• mujoco_mjcf is accepted by export_manifest, export_prepare and export_status.
• 42 tools (was 41).

Server side: MuJoCo and Isaac Sim exports now share one core, so both get the same metric gate, gravity alignment and mesh.

Build the Claude desktop bundle yourself with cd mcp && npm run build:mcpb.

openreality-mcp 0.3.1: Claude desktop extension, Claude Code plugin, MCP Registry manifest

openreality-mcp 0.3.1: install from anywhere

Same 41 tools as 0.3.0, packaged for every place people install MCP servers.

Claude desktop, one click. Download openreality-mcp-0.3.1.mcpb below and double-click it (or drag it into the Claude desktop window). The settings panel takes an optional server URL for self-hosters and an optional API token; otherwise run npx -y openreality-mcp login once in a terminal.

Claude Code plugin. The repo is now a plugin marketplace that bundles the MCP server with the workflow skill:

/plugin marketplace add reality-opened/openreality
/plugin install openreality@openreality

Official MCP Registry. mcp/server.json and the mcpName field are in place (io.github.reality-opened/openreality-mcp); the registry listing follows the npm publish of this version.

Everything else

• All 41 tools now carry readOnlyHint / destructiveHint annotations (no tool deletes anything).
• mcp/README.md gains a plain-language privacy policy.
• Acknowledgements section in both READMEs, crediting VGGT-SLAM, VGGT, Depth Anything V2, gsplat, SAM 3, TRELLIS, LeRobot, GR00T, GTSAM, cordis, and the MCP SDK.
• New post: Why our 3D tools refuse to say "metres" until you prove it.

Build the bundle yourself with cd mcp && npm run build:mcpb.

Demo recordings

Terminal demo rendered from docs/demo/demo.tape (VHS): a real Claude Code session driving the openreality MCP tools against the built-in offline simulator. Referenced by the README.

v0.3.0

First release from the standalone open-source repo.

• Rebuilt on the cordis plugin architecture: ctx.broker and ctx.mcp services, one plugin per tool namespace, effect-scoped (reversible) tool registration, inject-gated activation. See the Architecture section of the README.
• Full parity with the last in-tree release line: 0.2.1 transport resilience (GET retry, poll-blip tolerance, progress notifications on long waits) plus the scene_share_access tool (41 tools total).
• Self-contained: the @reality/protocol wire contract is vendored with a pinned-commit manifest; a mock-backend simulator supports fully offline development.
• 59 tests: unit, contract, transport, cordis lifecycle, and a real stdio end-to-end suite that records examples/transcript.md.

Install: npx -y openreality-mcp serve (see https://open-reality.io/mcp for per-client setup).