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itheima1 mcp_robot six-servo arm (ServoControllerStandalone)

itheima1 mcp_robot six-servo arm (ServoControllerStandalone), adapted from itheima1/mcp_robot. It reads joint_positions; runs move_joints, home, disable_all_torque and enable_all_torque. move_joints: 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. A hardware driver: the market serves its fake backend, so no instrument is needed.

hardwareRisk R2licence not assertedcontract_checkedserved on the fake backend
openai4s lab add robots/itheima1__mcp_robot
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/itheima1__mcp_robot

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/itheima1__mcp_robot --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": {
    "mcp-robot": {
      "command": "python3",
      "args": [
        "-m",
        "mhs",
        "serve",
        "robots/itheima1__mcp_robot",
        "--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_positions

Adjusts

Nothing declared.

Actions

move_joints
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.
home
Drive axes to their declared home position or reference switch, establishing the coordinate reference needed by other motion capabilities.
disable_all_torque
Disable the torque of servos 1 to 6 (the safe state); it takes no input
enable_all_torque
Re-enable the torque of servos 1 to 6 after a safety reset (the declared re-enable); it takes no input, is refused while the e-stop is latched and is never run by the reset. The upstream arm_tighten documents that the arm then holds its current position; treat it as an actuation

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/itheima1__mcp_robot
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
18f9ea5ff42c
Licence
NOASSERTION
Stars
22
Evidence
contract_checked on the fake backend
Backends
fake, hardware

The upstream repository asserts no licence (NOASSERTION); check it before you redistribute the upstream code.

The driver package MHS/drivers/robots/itheima1__mcp_robot wraps the upstream code at the pinned commit. Its REFERENCE.md documents the full contract: every value, action, unit, limit and the safety declaration.