openjigware 0.2.0

Python bindings for the OpenJigWare .NET robotics library (Dynamixel protocols, forward/inverse kinematics, DH/URDF, 3D)

OpenJigWare (Python)

Python bindings for the OpenJigWare .NET robotics library — Dynamixel protocols, forward/inverse kinematics, DH parameters, URDF/MJCF/USD export, and a browser-based 3D viewer. Runs on Windows, Linux, and macOS.

pip install openjigware

from openjigware import Ojw

# Dynamixel Protocol 2.0
dxl = Ojw.CProtocol2()
dxl.Open(0, 1000000)

# 3D / DH / inverse kinematics
c3d = Ojw.C3d()

How it works

openjigware ships the compiled OpenJigWare.dll (a cross-platform .NET 8 assembly) inside the wheel and loads it through pythonnet.

• pythonnet is installed automatically as a dependency.

• .NET 8 runtime: if a suitable CoreCLR runtime is not found, it is installed automatically into a user folder — no admin rights required (first run only, needs internet):

  • Windows: %LOCALAPPDATA%\OpenJigWare\dotnet
  • Linux/macOS: ~/.local/share/openjigware/dotnet

  Set OJW_NO_BOOTSTRAP=1 to disable auto-install (a clear error is raised instead). Point DOTNET_ROOT at an existing .NET 8 root to use your own.

Windows security note

Because pip extracts the bundled DLLs locally, they carry no Mark-of-the-Web (Zone.Identifier) tag — so the SmartScreen "blocked / unknown publisher" failures that plague manually-copied DLLs do not occur. Windows 11 Smart App Control in its strictest enforced mode may still require Authenticode code signing, which is outside the scope of pip.

Requirements

• Python 3.8+
• pythonnet 3.0.3+ (installed automatically)
• .NET 8+ runtime (installed automatically if missing)

License

MIT — see LICENSE.