motor-drive-layer
Binary-only Yunyi product Runtime for Linux.
Version 0.30.0 ships Runtime ABI 15.0 (0x000F0000). The wheel contains the
native libarticore_runtime.so and required data; it contains no Python module,
ctypes declarations or Motor ABI library.
The consuming SDK locates the shared library and must require the exact ABI
value. The public C contract is articore/runtime_abi.h and exposes one current
name/signature for each product operation. There are no capability bits or
version-suffixed entry points.
Runtime owns the two SocketCAN-FD+BRS channels, all installed Motors, product
configuration, native workers, safety state, IK and trajectory execution.
Python passes product arrays and reads coherent product state/health only.
Ordinary PV also exposes optional persistent maximum speed and acceleration
settings. They define the 100-percent joint-limit base. The shared
set_speed_percent setting scales ordinary-PV limits and the Linear/Circular
automatic time parameterization; trajectory base limits remain internal to
Runtime, and Cartesian callers do not provide a duration.
MIT exposes only standard full-frame set_joint_mit(q, dq, kp, kd, tau_ff)
and angle-only set_joint_mit_fast(q, speed_percent=100). Fast MIT accepts
0..100 as a percentage of its 5 rad/s reference-step base; standard MIT has
no speed parameter. ABI 15
does not export the former set_pose() shortcut; consumers use solve_ik()
plus an explicit joint command or the finite Cartesian move_pose() API.
Supported platforms:
- Linux x86_64
- Linux AArch64
The Runtime embeds its native robot-model implementation and does not resolve
Pinocchio or Boost from a ROS LD_LIBRARY_PATH at load time.
1 maintainer
Metadata
1 maintainer
Release files for motor-drive-layer 0.30.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Built distributions (wheels)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| motor_drive_layer-0.30.0-py3-none-manylinux_2_35_x86_64.whl | Python 3 | none | Linux glibc 2.35+ x86-64 | Details |
| motor_drive_layer-0.30.0-py3-none-manylinux_2_35_aarch64.whl | Python 3 | none | Linux glibc 2.35+ ARM64 | Details |
Total release size: 1.6 MB
Release files / motor_drive_layer-0.30.0-py3-none-manylinux_2_35_x86_64.whl
| Download URL | motor_drive_layer-0.30.0-py3-none-manylinux_2_35_x86_64.whl |
|---|---|
| Size | 866.0 kB |
| Tags | Linux glibc 2.35+ x86-64 Python 3 |
|
SHA-256 checksum How to use checksums |
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|
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No |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
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Release files / motor_drive_layer-0.30.0-py3-none-manylinux_2_35_aarch64.whl
| Download URL | motor_drive_layer-0.30.0-py3-none-manylinux_2_35_aarch64.whl |
|---|---|
| Size | 770.8 kB |
| Tags | Linux glibc 2.35+ ARM64 Python 3 |
|
SHA-256 checksum How to use checksums |
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BLAKE2b-256 checksum How to use checksums |
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| Upload date | |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/7.0.0 CPython/3.13.14
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