ドローンシミュレータ（箱庭）をMCPサーバー/Claude連携した！ #Claude – Qiita

@server.list_tools()
async def handle_list_tools() -> list[types.Tool]:
    return [
        types.Tool(
            name="describe_hakoniwa_drone",
            description="Provides an overview of the Hakoniwa Drone Simulator",
            inputSchema={
                "type": "object",
                "properties": {},
                "required": []
            },
        ),
        types.Tool(
            name="hakoniwa_drone_simulator_start",
            description="Starts the Hakoniwa Drone Simulator",
            inputSchema={
                "type": "object",
                "properties": {},
                "required": []
            }
        ),
        types.Tool(
            name="hakoniwa_drone_simulator_stop",
            description="Stops the Hakoniwa Drone Simulator",
            inputSchema={
                "type": "object",
                "properties": {},
                "required": []
            }
        ),
        types.Tool(
            name="provide_hakoniwa_drone_manual",
            description="Provides the Hakoniwa Drone Simulator operation manual (PDF)",
            inputSchema={
                "type": "object",
                "properties": {},
                "required": []
            }
        ),
        types.Tool(
            name="drone_command_takeoff",
            description="Executes a takeoff command on the drone simulator",
            inputSchema={
                "type": "object",
                "properties": {
                    "height": {
                        "type": "number",
                        "description": "The target height for takeoff (default 1.0m)"
                    }
                },
                "required": []
            }
        ),
        types.Tool(
            name="drone_command_move_to_position",
            description="Move drone to specified (x, y, z) position (ROS coordinate system, meters)",
            inputSchema={
                "type": "object",
                "properties": {
                    "x": {"type": "number", "description": "Forward direction, meters"},
                    "y": {"type": "number", "description": "Left direction, meters"},
                    "z": {"type": "number", "description": "Upward direction, meters"},
                    "speed": {"type": "number", "description": "Movement speed, meters/second"}
                },
                "required": ["x", "y", "z", "speed"]
            }
        ),
        types.Tool(
            name="drone_command_land",
            description="Land the drone",
            inputSchema={
                "type": "object",
                "properties": {},
                "required": []
            }
        )    

    ]

@server.call_tool()
async def handle_call_tool(name: str, arguments: dict | None) -> list[types.TextContent]:
    if name == "describe_hakoniwa_drone":
        return [
            types.TextContent(
                type="text",
                text=(
                    "Hakoniwa Drone Simulatorは、仮想環境上でドローンの自律飛行や荷物輸送タスクを模擬できる高機能シミュレータです。"
                    "ROS座標系およびUnity座標系の両方に対応し、リアルタイムなカメラ画像取得、Lidarデータ取得、API制御による移動・離着陸・物体把持が可能です。"
                    "訓練用途、研究用途、またはAI開発向けのプロトタイピングに適しています。"
                )
            ),
        ]
    elif name == "hakoniwa_drone_simulator_start":
        return [
            types.TextContent(
                type="text",
                text=hakoniwa_drone_simulator_start()
            )
        ]
    elif name == "hakoniwa_drone_simulator_stop":
        return [
            types.TextContent(
                type="text",
                text=hakoniwa_drone_simulator_stop()
            )
        ]
    elif name == "provide_hakoniwa_drone_manual":
        return [
            types.TextContent(
                type="text",
                text=(
                    "箱庭ドローンシミュレータの公式マニュアルはこちらです！\n"
                    "👉 [Hakoniwa Drone Manual PDF](https://www.jasa.or.jp/dl/tech/simulator_operation_edition.pdf)"
                )
            )
        ]
    elif name == "drone_command_takeoff":
        height = 1.0
        if arguments and "height" in arguments:
            height = float(arguments["height"])
        return [
            types.TextContent(
                type="text",
                text=drone_command("takeoff", [str(height)])
            )
        ]

    elif name == "drone_command_move_to_position":
        if arguments is None:
            raise ValueError("Arguments required for moveToPosition")
        x = str(arguments["x"])
        y = str(arguments["y"])
        z = str(arguments["z"])
        speed = str(arguments["speed"])
        return [
            types.TextContent(
                type="text",
                text=drone_command("moveToPosition", [x, y, z, speed])
            )
        ]

    elif name == "drone_command_land":
        return [
            types.TextContent(
                type="text",
                text=drone_command("land")
            )
        ]
    else:
        raise ValueError(f"Unknown tool: {name}")