UR5 vacuum gripper array (Gazebo) — 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/lihuang3__ur5_ros-gazebo

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/lihuang3__ur5_ros-gazebo --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": {
    "ur5-ros-gazebo": {
      "command": "python3",
      "args": [
        "-m",
        "mhs",
        "serve",
        "robots/lihuang3__ur5_ros-gazebo",
        "--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_grasping
read_tracker
read_block_poses

Adjusts

Nothing declared.

Actions

vacuum_gripper_0_on: Call the acknowledged /ur5/vacuum_gripper/on std_srvs/Empty service; the empty reply confirms only that the plugin handler returned
vacuum_gripper_1_on: Call the acknowledged /ur5/vacuum_gripper1/on std_srvs/Empty service; the empty reply confirms only that the plugin handler returned
vacuum_gripper_2_on: Call the acknowledged /ur5/vacuum_gripper2/on std_srvs/Empty service; the empty reply confirms only that the plugin handler returned
vacuum_gripper_3_on: Call the acknowledged /ur5/vacuum_gripper3/on std_srvs/Empty service; the empty reply confirms only that the plugin handler returned
vacuum_gripper_4_on: Call the acknowledged /ur5/vacuum_gripper4/on std_srvs/Empty service; the empty reply confirms only that the plugin handler returned
vacuum_gripper_5_on: Call the acknowledged /ur5/vacuum_gripper5/on std_srvs/Empty service; the empty reply confirms only that the plugin handler returned
vacuum_gripper_6_on: Call the acknowledged /ur5/vacuum_gripper6/on std_srvs/Empty service; the empty reply confirms only that the plugin handler returned
vacuum_gripper_7_on: Call the acknowledged /ur5/vacuum_gripper7/on std_srvs/Empty service; the empty reply confirms only that the plugin handler returned
vacuum_gripper_8_on: Call the acknowledged /ur5/vacuum_gripper8/on std_srvs/Empty service; the empty reply confirms only that the plugin handler returned
vacuum_gripper_0_off: Release vacuum channel 0 through the /ur5/vacuum_gripper/off std_srvs/Empty service; a held object may drop, the arm is not stopped, and this is not a safe state
vacuum_gripper_1_off: Release vacuum channel 1 through the /ur5/vacuum_gripper1/off std_srvs/Empty service; a held object may drop, the arm is not stopped, and this is not a safe state
vacuum_gripper_2_off: Release vacuum channel 2 through the /ur5/vacuum_gripper2/off std_srvs/Empty service; a held object may drop, the arm is not stopped, and this is not a safe state
vacuum_gripper_3_off: Release vacuum channel 3 through the /ur5/vacuum_gripper3/off std_srvs/Empty service; a held object may drop, the arm is not stopped, and this is not a safe state
vacuum_gripper_4_off: Release vacuum channel 4 through the /ur5/vacuum_gripper4/off std_srvs/Empty service; a held object may drop, the arm is not stopped, and this is not a safe state
vacuum_gripper_5_off: Release vacuum channel 5 through the /ur5/vacuum_gripper5/off std_srvs/Empty service; a held object may drop, the arm is not stopped, and this is not a safe state
vacuum_gripper_6_off: Release vacuum channel 6 through the /ur5/vacuum_gripper6/off std_srvs/Empty service; a held object may drop, the arm is not stopped, and this is not a safe state
vacuum_gripper_7_off: Release vacuum channel 7 through the /ur5/vacuum_gripper7/off std_srvs/Empty service; a held object may drop, the arm is not stopped, and this is not a safe state
vacuum_gripper_8_off: Release vacuum channel 8 through the /ur5/vacuum_gripper8/off std_srvs/Empty service; a held object may drop, the arm is not stopped, and this is not a safe state

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/lihuang3__ur5_ros-gazebo
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: lihuang3/ur5_ros-gazebo
Pinned commit: 2f7b9b056bb4
Licence: NOASSERTION
Stars: 513
Evidence: contract_checked on the fake backend
Backends: fake

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

The driver package MHS/drivers/robots/lihuang3__ur5_ros-gazebo wraps the upstream code at the pinned commit. Its REFERENCE.md documents the full contract: every value, action, unit, limit and the safety declaration.