generated: '2026-09-05'
method: searched
source: https://github.com/4paradigm/phanthymotus-driver — the driver.yaml manifest of each of the 16
  published bundles, fetched verbatim 2026-09-05; framework description from https://github.com/4paradigm/phanthymotus#readme
  and the resource centre at https://motus.phanthy.com/en/drivers
name: PhanthyMotus driver MCP bus
status: published
summary: 'PhanthyMotus is 4Paradigm''s open-source embodied-AI agent framework, and it is MCP-native by
  design: ''one MCP server per device''. Each hardware driver bundle runs as its own MCP server on a fixed
  localhost port and declares typed cards — sensor (data streams), actuator (executable actions), processor
  (data transforms) and resource (static assets such as URDF) — which the Agent Core discovers over a
  unified MCP data bus. 16 bundles are published with machine-readable driver.yaml manifests declaring
  303 cards in total.'
deployment:
  mode: local-stdio
  endpoint: null
  install: curl -fsSL https://motus.phanthy.com/install.sh | sudo bash
  package: https://github.com/4paradigm/phanthymotus-driver
  auth: none
  verified: searched
  note: 'mode is local-stdio in the sense the field draws — nothing here is reachable by an agent until
    a human installs and runs it on a machine attached to the robot. The transport is NOT stdio: each
    driver serves streamable-HTTP MCP at http://localhost:<port>/mcp once its container is running, as
    its own driver.yaml states. 4Paradigm operates no hosted/remote MCP endpoint, so no endpoint URL is
    recorded — the localhost URLs below are the provider''s declared local bind addresses, not an agent-callable
    service. Images are pulled from bj-warehouse.tencentcloudcr.com/phanthy-motus/.'
agent_core:
  port: 15678
  role: MCP client and agent loop (FastAPI + ros2_bridge), also the web dashboard
  perception_ports:
  - 15720
  - 15721
  actucore_port: 15730
  source: https://github.com/4paradigm/phanthymotus#readme
card_types:
  sensor: data streams the agent can read
  actuator: executable actions the agent can invoke
  processor: data transforms
  resource: static assets such as URDF models
servers:
- id: agibot-x2-driver
  name: AgiBot X2 (AimDK) Driver
  hardware_provider: agibot
  hardware_model: x2
  mcp_url: http://localhost:15717/mcp
  port: 15717
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/agibot/AimDK_X2/driver.yaml
  card_count: 23
  cards_by_type:
    sensor: 10
    resource: 1
    actuator: 11
    processor: 1
  cards:
  - name: mc_state
    type: sensor
  - name: joint_state
    type: sensor
  - name: hand_state
    type: sensor
  - name: imu
    type: sensor
  - name: camera_rgb
    type: sensor
  - name: camera_depth
    type: sensor
  - name: lidar
    type: sensor
  - name: slam_pose
    type: sensor
  - name: system_state
    type: sensor
  - name: linkcraft_catalog
    type: sensor
  - name: model
    type: resource
  - name: mc_mode
    type: actuator
  - name: locomotion
    type: actuator
  - name: preset_motion
    type: actuator
  - name: joint_command
    type: actuator
  - name: hand_command
    type: actuator
  - name: linkcraft
    type: actuator
  - name: pmu_led
    type: actuator
  - name: tts
    type: actuator
  - name: emoji
    type: actuator
  - name: mic_source
    type: actuator
  - name: slam_control
    type: actuator
  - name: map_get
    type: processor
- id: booster-k1-driver
  name: Booster K1 Bundle
  hardware_provider: booster
  hardware_model: k1
  mcp_url: http://localhost:15705/mcp
  port: 15705
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/booster/k1/driver.yaml
  card_count: 11
  cards_by_type:
    sensor: 6
    resource: 1
    actuator: 4
  cards:
  - name: imu
    type: sensor
  - name: battery
    type: sensor
  - name: joints
    type: sensor
  - name: odom
    type: sensor
  - name: fall_down_state
    type: sensor
  - name: model
    type: resource
  - name: camera
    type: sensor
  - name: loco
    type: actuator
  - name: upper_body
    type: actuator
  - name: action
    type: actuator
  - name: audio
    type: actuator
- id: brainco-revo2-driver
  name: BrainCo Revo 2 Dexterous Hand
  hardware_provider: brainco
  hardware_model: revo2
  mcp_url: http://localhost:15706/mcp
  port: 15706
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/brainco/revo2/driver.yaml
  card_count: 3
  cards_by_type:
    actuator: 1
    sensor: 1
    resource: 1
  cards:
  - name: hand
    type: actuator
  - name: hand_state
    type: sensor
  - name: model
    type: resource
- id: deep-robotics-lynx-m20-driver
  name: DEEP Robotics Lynx M20 Driver
  hardware_provider: deep-robotics
  hardware_model: lynx-m20
  mcp_url: http://localhost:15716/mcp
  port: 15716
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/deep_robotics/lynx_m20/driver.yaml
  card_count: 21
  cards_by_type:
    sensor: 18
    actuator: 3
  cards:
  - name: state
    type: sensor
  - name: motion_info
    type: sensor
  - name: imu
    type: sensor
  - name: lidar
    type: sensor
  - name: lidar_rear
    type: sensor
  - name: hard_estop
    type: sensor
  - name: charge_status
    type: sensor
  - name: gps
    type: sensor
  - name: joints
    type: sensor
  - name: camera_front
    type: sensor
  - name: camera_rear
    type: sensor
  - name: native_motion_status
    type: sensor
  - name: native_device_status
    type: sensor
  - name: native_basic_status
    type: sensor
  - name: errors
    type: sensor
  - name: capabilities
    type: sensor
  - name: ros_graph
    type: sensor
  - name: motion_events
    type: sensor
  - name: motion
    type: actuator
  - name: charging
    type: actuator
  - name: device
    type: actuator
- id: dji-m300
  name: DJI Matrice 300 RTK Bundle
  hardware_provider: dji
  hardware_model: matrice300
  mcp_url: http://localhost:15702/mcp
  port: 15702
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/dji/M300/driver.yaml
  card_count: 6
  cards_by_type:
    sensor: 4
    actuator: 2
  cards:
  - name: telemetry
    type: sensor
  - name: camera_stream
    type: sensor
  - name: perception
    type: sensor
  - name: hms
    type: sensor
  - name: flight
    type: actuator
  - name: aircraft_info
    type: actuator
- id: dji-mavic3e
  name: DJI Mavic 3E/3T Bundle
  hardware_provider: dji
  hardware_model: mavic3e
  mcp_url: http://localhost:15702/mcp
  port: 15702
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/dji/mavic3e/driver.yaml
  card_count: 10
  cards_by_type:
    sensor: 4
    actuator: 5
    resource: 1
  cards:
  - name: telemetry
    type: sensor
  - name: camera_stream
    type: sensor
  - name: perception
    type: sensor
  - name: hms
    type: sensor
  - name: flight
    type: actuator
  - name: camera
    type: actuator
  - name: gimbal
    type: actuator
  - name: waypoint
    type: actuator
  - name: aircraft_info
    type: actuator
  - name: model
    type: resource
- id: dji-mavic4e
  name: DJI Mavic 4E/4T Bundle
  hardware_provider: dji
  hardware_model: mavic4e
  mcp_url: http://localhost:15703/mcp
  port: 15703
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/dji/mavic4e/driver.yaml
  card_count: 10
  cards_by_type:
    sensor: 4
    actuator: 5
    resource: 1
  cards:
  - name: telemetry
    type: sensor
  - name: camera_stream
    type: sensor
  - name: perception
    type: sensor
  - name: hms
    type: sensor
  - name: flight
    type: actuator
  - name: camera
    type: actuator
  - name: gimbal
    type: actuator
  - name: waypoint
    type: actuator
  - name: aircraft_info
    type: actuator
  - name: model
    type: resource
- id: engineai-t800-driver
  name: EngineAI T800 Development Edition Bundle
  hardware_provider: engineai
  hardware_model: t800
  mcp_url: http://localhost:15708/mcp
  port: 15708
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/engineai/t800/driver.yaml
  card_count: 46
  cards_by_type:
    sensor: 24
    actuator: 21
    resource: 1
  cards:
  - name: joints
    type: sensor
  - name: imu
    type: sensor
  - name: battery
    type: sensor
  - name: motor_health
    type: sensor
  - name: motor_state
    type: sensor
  - name: motor_command
    type: sensor
  - name: joint_command_feedback
    type: sensor
  - name: gamepad
    type: sensor
  - name: motion_state
    type: sensor
  - name: robot_snapshot
    type: sensor
  - name: fault_summary
    type: sensor
  - name: stability
    type: sensor
  - name: joint_groups
    type: sensor
  - name: capabilities
    type: sensor
  - name: ros_graph
    type: sensor
  - name: mainboard
    type: sensor
  - name: driver_health
    type: actuator
  - name: model
    type: resource
  - name: motion_events
    type: actuator
  - name: heartbeat_status
    type: sensor
  - name: motion_command_trace
    type: sensor
  - name: native_interface_probe
    type: sensor
  - name: loco
    type: actuator
  - name: safe_motion_mode
    type: actuator
  - name: dance
    type: actuator
  - name: joint_plan
    type: actuator
  - name: gesture
    type: actuator
  - name: head
    type: actuator
  - name: joint_override
    type: actuator
  - name: joint_bridge
    type: actuator
  - name: led
    type: actuator
  - name: tts
    type: actuator
  - name: motor_power
    type: actuator
  - name: native_node_control
    type: actuator
  - name: virtual_gamepad
    type: actuator
  - name: controlled_spatial
    type: actuator
  - name: controlled_spatial_map
    type: sensor
  - name: safety
    type: actuator
  - name: native_sdk
    type: actuator
  - name: mic
    type: sensor
  - name: speaker
    type: actuator
  - name: pointcloud
    type: sensor
  - name: camera
    type: sensor
  - name: depth
    type: sensor
  - name: gait
    type: actuator
  - name: motion_recorder
    type: actuator
- id: bumi-driver
  name: Noetix Bumi Bundle
  hardware_provider: noetix
  hardware_model: bumi
  mcp_url: http://localhost:15704/mcp
  port: 15704
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/noetix/bumi/driver.yaml
  card_count: 14
  cards_by_type:
    sensor: 7
    resource: 1
    actuator: 6
  cards:
  - name: imu
    type: sensor
  - name: battery
    type: sensor
  - name: joints
    type: sensor
  - name: model
    type: resource
  - name: loco
    type: actuator
  - name: stand_up_lie_prone
    type: actuator
  - name: semantic_action
    type: actuator
  - name: action_recording
    type: actuator
  - name: mic
    type: sensor
  - name: speaker
    type: actuator
  - name: camera
    type: sensor
  - name: depth
    type: sensor
  - name: motion_state
    type: sensor
  - name: vision_capture
    type: actuator
- id: adam-driver
  name: PNDbotics Adam Bundle
  hardware_provider: pndbotics
  hardware_model: adam
  mcp_url: http://localhost:15702/mcp
  port: 15702
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/pndbotics/adam/driver.yaml
  card_count: 10
  cards_by_type:
    sensor: 6
    actuator: 3
    resource: 1
  cards:
  - name: joints
    type: sensor
  - name: imu
    type: sensor
  - name: battery
    type: sensor
  - name: loco
    type: actuator
  - name: arm
    type: actuator
  - name: hand
    type: actuator
  - name: camera_head
    type: sensor
  - name: camera_depth
    type: sensor
  - name: camera_pointcloud
    type: sensor
  - name: model
    type: resource
- id: robotera-q5-driver
  name: RobotEra Q5 Bundle
  hardware_provider: robotera
  hardware_model: q5
  mcp_url: http://localhost:15793/mcp
  port: 15793
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/robotera/q5_bundle/driver.yaml
  card_count: 22
  cards_by_type:
    actuator: 10
    sensor: 11
    resource: 1
  cards:
  - name: base_drive
    type: actuator
  - name: joints
    type: sensor
  - name: joints_state
    type: sensor
  - name: battery
    type: sensor
  - name: hand_state
    type: sensor
  - name: mic
    type: sensor
  - name: speaker
    type: actuator
  - name: audio
    type: actuator
  - name: camera_rgb
    type: sensor
  - name: camera_depth
    type: sensor
  - name: camera_pointcloud
    type: sensor
  - name: arm_control
    type: actuator
  - name: hand_control
    type: actuator
  - name: hand_gesture
    type: actuator
  - name: arm_gesture
    type: actuator
  - name: head_control
    type: actuator
  - name: leg_control
    type: actuator
  - name: waist_control
    type: actuator
  - name: odom
    type: sensor
  - name: teleop_state
    type: sensor
  - name: robot_status
    type: sensor
  - name: model
    type: resource
- id: g1-driver
  name: Unitree G1 Bundle
  hardware_provider: unitree
  hardware_model: g1
  mcp_url: http://localhost:15701/mcp
  port: 15701
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/unitree/g1/driver.yaml
  card_count: 27
  cards_by_type:
    sensor: 16
    actuator: 10
    resource: 1
  cards:
  - name: mic
    type: sensor
  - name: tts
    type: actuator
  - name: speaker
    type: actuator
  - name: led
    type: actuator
  - name: loco_state
    type: sensor
  - name: loco_motion_state
    type: sensor
  - name: motion_events
    type: sensor
  - name: loco
    type: actuator
  - name: switch_mode
    type: actuator
  - name: switch_mode_expert
    type: actuator
  - name: arm
    type: actuator
  - name: posture
    type: sensor
  - name: imu
    type: sensor
  - name: battery
    type: sensor
  - name: joints
    type: sensor
  - name: mainboard
    type: sensor
  - name: model
    type: resource
  - name: camera_rgb
    type: sensor
  - name: camera_depth
    type: sensor
  - name: camera_distance
    type: sensor
  - name: lidar_cloud
    type: sensor
  - name: controlled_spatial
    type: actuator
  - name: controlled_spatial_map
    type: sensor
  - name: motion_switcher
    type: actuator
  - name: ext_mic
    type: sensor
  - name: ext_camera
    type: sensor
  - name: smart_motion
    type: actuator
- id: go1-driver
  name: Unitree Go1 Bundle
  hardware_provider: unitree
  hardware_model: go1
  mcp_url: http://localhost:15715/mcp
  port: 15715
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/unitree/go1/driver.yaml
  card_count: 21
  cards_by_type:
    sensor: 11
    actuator: 9
    resource: 1
  cards:
  - name: loco_state
    type: sensor
  - name: battery
    type: sensor
  - name: face_light
    type: actuator
  - name: camera_rgb
    type: sensor
  - name: imu
    type: sensor
  - name: feet
    type: sensor
  - name: fall_alarm
    type: sensor
  - name: odometry
    type: sensor
  - name: obstacle_range
    type: sensor
  - name: udp_diagnostics
    type: sensor
  - name: joints
    type: sensor
  - name: remote_controller
    type: sensor
  - name: model
    type: resource
  - name: activity_monitor
    type: actuator
  - name: beep
    type: actuator
  - name: speaker
    type: actuator
  - name: loco
    type: actuator
  - name: body_pose
    type: actuator
  - name: gesture
    type: actuator
  - name: switch_gait
    type: actuator
  - name: special_motion
    type: actuator
- id: go2-driver
  name: Unitree Go2 Bundle
  hardware_provider: unitree
  hardware_model: go2
  mcp_url: http://localhost:15703/mcp
  port: 15703
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/unitree/go2/driver.yaml
  card_count: 23
  cards_by_type:
    sensor: 14
    actuator: 9
  cards:
  - name: mic
    type: sensor
  - name: speaker
    type: actuator
  - name: vui
    type: actuator
  - name: loco_state
    type: sensor
  - name: loco
    type: actuator
  - name: switch_gait
    type: actuator
  - name: gesture
    type: actuator
  - name: acrobatics
    type: actuator
  - name: obstacles_avoid
    type: actuator
  - name: camera_front
    type: sensor
  - name: imu
    type: sensor
  - name: battery
    type: sensor
  - name: joints
    type: sensor
  - name: motion_switcher
    type: actuator
  - name: lidar_cloud
    type: sensor
  - name: pos_tag
    type: sensor
  - name: slam_mapping
    type: sensor
  - name: slam_cloud
    type: sensor
  - name: grid_map
    type: sensor
  - name: spatial
    type: actuator
  - name: asr
    type: sensor
  - name: ext_mic
    type: sensor
  - name: ext_camera
    type: sensor
- id: r1-driver
  name: Unitree R1 Bundle
  hardware_provider: unitree
  hardware_model: r1
  mcp_url: http://localhost:15702/mcp
  port: 15702
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/unitree/r1/driver.yaml
  card_count: 21
  cards_by_type:
    sensor: 13
    actuator: 7
    resource: 1
  cards:
  - name: mic
    type: sensor
  - name: tts
    type: actuator
  - name: speaker
    type: actuator
  - name: led
    type: actuator
  - name: loco_state
    type: sensor
  - name: loco
    type: actuator
  - name: switch_mode
    type: actuator
  - name: arm
    type: actuator
  - name: imu
    type: sensor
  - name: battery
    type: sensor
  - name: joints
    type: sensor
  - name: mainboard
    type: sensor
  - name: model
    type: resource
  - name: asr
    type: sensor
  - name: camera_main
    type: sensor
  - name: camera_left
    type: sensor
  - name: camera_right
    type: sensor
  - name: camera_depth
    type: sensor
  - name: ext_mic
    type: sensor
  - name: ext_camera
    type: sensor
  - name: smart_motion
    type: actuator
- id: tianyi2-driver
  name: Tianyi 2.0 Pro Bundle
  hardware_provider: x-humanoid
  hardware_model: tianyi2.0
  mcp_url: http://localhost:15707/mcp
  port: 15707
  manifest: https://github.com/4paradigm/phanthymotus-driver/blob/main/x-humanoid/tianyi2.0/driver.yaml
  card_count: 35
  cards_by_type:
    sensor: 16
    resource: 1
    actuator: 18
  cards:
  - name: joints
    type: sensor
  - name: battery
    type: sensor
  - name: estop
    type: sensor
  - name: force_sensor
    type: sensor
  - name: model
    type: resource
  - name: camera_head
    type: sensor
  - name: imu
    type: sensor
  - name: camera_depth
    type: sensor
  - name: camera_pointcloud
    type: sensor
  - name: asr
    type: sensor
  - name: nav_state
    type: sensor
  - name: power_board
    type: sensor
  - name: motors
    type: sensor
  - name: hand_state
    type: sensor
  - name: remote_event
    type: sensor
  - name: head
    type: actuator
  - name: head_gesture
    type: actuator
  - name: arm
    type: actuator
  - name: arm_gesture
    type: actuator
  - name: waist
    type: actuator
  - name: hand
    type: actuator
  - name: tts
    type: actuator
  - name: voice_play
    type: actuator
  - name: nav
    type: actuator
  - name: home
    type: actuator
  - name: chat
    type: actuator
  - name: voice_chat
    type: actuator
  - name: controlled_spatial
    type: actuator
  - name: spatial_map
    type: actuator
  - name: health_check
    type: actuator
  - name: laser_scan
    type: sensor
  - name: chassis_raw
    type: actuator
  - name: ext_mic
    type: sensor
  - name: light
    type: actuator
  - name: vision_capture
    type: actuator
totals:
  bundles: 16
  cards: 303
  by_type:
    sensor: 165
    resource: 13
    actuator: 124
    processor: 1
schemas:
  available: false
  note: Card names and types are published; the per-tool JSON inputSchema is not. It is served by each
    driver's own MCP server at runtime (tools/list against http://localhost:<port>/mcp), which requires
    the hardware and the container to be running. No live introspection was possible from outside, and
    none was fabricated.