DaMiao DM series CAN motor (DM_CAN.MotorControl) — device market

Install

Three ways to run this device. Each one serves its fake backend: no instrument, no simulator install and no upstream checkout.

OpenAI4S (one command)

shell

openai4s lab add robots/cmjang__dm_control_python

Installs the device into the OpenAI4S Lab on its fake backend and starts it. First time? See setup below.

Or, in the workbench, open the Lab tab → Market → Install.

Standalone MHS endpoint

shell

git clone --depth 1 https://github.com/PKU-YuanGroup/OpenMHS.git && cd OpenMHS
PYTHONPATH=MHS/sdk/src python3 -m mhs serve robots/cmjang__dm_control_python --port 7400
# in a second terminal, from the same directory:
PYTHONPATH=MHS/sdk/src python3 -m mhs describe --endpoint http://127.0.0.1:7400

Serves the device as an MHS endpoint on port 7400 from an OpenMHS clone (Python 3.10 or later, standard library only); describe prints what it offers.

Any MCP host (Claude Desktop, Cursor, …)

mcp configuration

{
  "mcpServers": {
    "dm-control-python": {
      "command": "python3",
      "args": [
        "-m",
        "mhs",
        "serve",
        "robots/cmjang__dm_control_python",
        "--mcp"
      ],
      "env": {
        "PYTHONPATH": "/path/to/OpenMHS/MHS/sdk/src"
      }
    }
  }
}

Add this server to the host's MCP configuration and replace /path/to/OpenMHS with the path of your OpenMHS clone. The host starts the server and talks to it on stdin and stdout.

What it does

Measures

joint_position
joint_velocity
joint_torque
control_mode

Adjusts

enabled

Actions

move_joint: Command one or more actuated joints to target positions in joint space, optionally over a declared duration, and report whether the target was reached within tolerance.
jog_joint: Command continuous joint velocities for a bounded duration. The operation stops at the end of the duration or when cancelled.

Names as the driver declares them. Units, limits and the safety declaration are in the package's REFERENCE.md.

First-time setup

The OpenAI4S workbench with the OpenMHS lab, from a source checkout:

shell

# OpenAI4S workbench with the OpenMHS lab (source checkout)
git clone --recursive https://github.com/PKU-YuanGroup/OpenAI4S.git
cd OpenAI4S && ./setup.sh && source .venv/bin/activate
openai4s lab add robots/cmjang__dm_control_python
openai4s serve        # open the Lab tab

The standalone endpoint and the MCP server need only an OpenMHS clone and Python 3.10 or later. More in the market's getting-started guide and on the OpenAI4S host page.

Source and evidence

Upstream: cmjang/dm_control_python
Pinned commit: 7da93877ba84
Licence: MIT
Stars: 78
Evidence: contract_checked on the fake backend
Backends: fake, hardware

The driver package MHS/drivers/robots/cmjang__dm_control_python wraps the upstream code at the pinned commit. Its REFERENCE.md documents the full contract: every value, action, unit, limit and the safety declaration.