Alloy MCP Server

What is Alloy?

Alloy: a multi-material, parallel physics engine for robot learning, built on Newton, MuJoCo Warp and Warp. Rigid robots, cloth, liquids and soft bodies in one scene, in parallel worlds on a GPU (thousands for free rigid bodies, up to 4,096 for a robot arm), or on a CPU. Python 3.11 or 3.12.

How to use Alloy?

The README includes setup instructions such as python -c "import alloy; print(alloy.__version__)".

Key features of Alloy

• A robot arm pouring liquid: build the cup into the robot's hand in its MJCF and the robot pours from it into a
• Cloth and towel folding for imitation learning: ClothFold-v0 (experimental) is a task that folds a towel along its
• An MJCF robot with sand and water: one scene holds a robot from an MJCF file, sand (MPM) and water (DFSPH), stepped
• Cable and wire manipulation: scene.add_rod makes a cable or wire that bends, twists and stretches as its material
• An MCP server physics simulator for robotics: alloy mcp gives an AI agent the engine as MCP tools (build a

Use cases of Alloy

• Connect an MCP-compatible client to this repository's service.
• Review the README-backed setup before enabling it in production.