motor-drive-layer native payload

This distribution contains the compiled Motor-Drive-Layer libraries only:

libmotor_abi.so: generic transport, controller, motor and Damiao C ABI.
libarticore_runtime.so: fixed Yunyi dual-arm Runtime, robot model and gravity-compensation C ABI.
Redistributable DM Device runtime dependencies for the target platform.

It intentionally installs no Python module and exports no Python API. Python product SDKs own their ctypes declarations, value types and user-facing interfaces. In particular, Articore-SDK locates this distribution through importlib.metadata and calls the stable native ABI without importing motor_drive_layer.

The supported product entry point is articore_runtime_create_yunyi(mode, with_grippers). Product clients do not pass a product identifier, Controller, Motor handle, mapping table, gripper profile, gravity binding, or control rate. Product trajectories are likewise planned and executed entirely by the C++ Runtime through the stable trajectory C ABI; the wheel contains no Python interpolator or realtime playback loop.

Version 0.10.27 doubles the built-in yunyi_gripper_v1 command strength at every public force level (1 through 10), without changing the product C ABI.

Version 0.10.28 adds the ABI 2.25 product gripper v2 command with protected and direct (no contact/stall or overload-retreat) modes and a 0-through-10 strength scale. Runtime-wide safety remains active in both modes.

Version 0.10.29 guarantees that Yunyi grippers remain in MIT mode regardless of whether the fourteen arm joints use PV or MIT control.

Version 0.10.30 multiplies both Kp and Kd by ten in direct gripper mode only; protected mode and zero strength remain unchanged.

The required Pinocchio C++ template implementations are compiled into libarticore_runtime.so with hidden visibility. The installed runtime has no dynamic dependency on Pinocchio or Boost, so a ROS 2 LD_LIBRARY_PATH cannot substitute an incompatible robotics library.

The payload is installed under:

motor_drive_layer_native/
└── lib/
    ├── libmotor_abi.so
    ├── libarticore_runtime.so
    └── dm_device/

Use the headers and CMake package from the native SDK artifact for C/C++ development. Install Articore-SDK for the supported Python product interface.

Metadata

Release files for motor-drive-layer 0.10.30

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Built distribution (wheel)

Table of built distributions (wheels) for motor-drive-layer 0.10.30
File	Interpreter	ABI	Platform	Reset
motor_drive_layer-0.10.30-py3-none-manylinux_2_34_x86_64.whl 2.1 MB Aug 20, 2026	Python 3	none	Linux glibc 2.34+ x86-64	Details

Release files / motor_drive_layer-0.10.30-py3-none-manylinux_2_34_x86_64.whl

Download URL	motor_drive_layer-0.10.30-py3-none-manylinux_2_34_x86_64.whl
Size	2.1 MB
Tags	Linux glibc 2.34+ x86-64 Python 3
SHA-256 checksum How to use checksums	`a102000d86749fee924d673d104a44f37737347332b0560de99fa552db2f499f`
BLAKE2b-256 checksum How to use checksums	`92345aa922d77a3cc76c06d4d12f3b4e867844d220a43ff188b9c15a64e8878f`
Upload date	Aug 20, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/7.0.0 CPython/3.10.20`