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evronix quadruped ROS 2 Gazebo sim2sim

evronix quadruped ROS 2 Gazebo sim2sim, adapted from evronix/quadruped_sim2sim. It reads read_joint_states and read_imu; runs publish_velocity_command. publish_velocity_command: publish one PoseStamped velocity setpoint on /robot_velocity_command; the receipt confirms only that rosbridge accepted the publication, not motion, arrival or stopping. A simulator: the market serves it with a stand-in that needs no simulator install.

simulatedRisk R2MITcontract_checkedserved on the fake backend
openai4s lab add robots/evronix__quadruped_sim2sim
All install options REFERENCE.md Upstream repository Registry record

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/evronix__quadruped_sim2sim

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/evronix__quadruped_sim2sim --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": {
    "quadruped-sim2sim": {
      "command": "python3",
      "args": [
        "-m",
        "mhs",
        "serve",
        "robots/evronix__quadruped_sim2sim",
        "--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

  • read_joint_states
  • read_imu

Adjusts

Nothing declared.

Actions

publish_velocity_command
Publish one PoseStamped velocity setpoint on /robot_velocity_command; the receipt confirms only that rosbridge accepted the publication, not motion, arrival or stopping

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/evronix__quadruped_sim2sim
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

Pinned commit
99040173a6ec
Licence
MIT
Stars
60
Evidence
contract_checked on the fake backend
Backends
fake

The driver package MHS/drivers/robots/evronix__quadruped_sim2sim wraps the upstream code at the pinned commit. Its REFERENCE.md documents the full contract: every value, action, unit, limit and the safety declaration.