opensourceleg: An open-source SDK for developing and testing algorithms on commonly used robotic hardware. Originally developed for the Open-Source Leg project, this library provides a comprehensive framework for interfacing with various actuators and sensors in robotic systems. While initially designed for prosthetic leg applications, the opensourceleg library's modular architecture makes it versatile for use with any robotic platform utilizing similar components.

Note: Starting from version opensourceleg 3.3.0, only Python 3.10 and above are supported. If you need compatibility with Python 3.9, please install opensourceleg 3.2.1:

pip install opensourceleg==3.2.1

🎯 Key Features

This library solves common challenges in developing, testing, and deploying robotic algorithms:

Feature	Description
📦 Standardized Interfaces	Provides consistent interfaces for common actuators and sensors
🔄 Ready-to-Use Implementations	Offers ready-to-use implementations for popular hardware components
🔍 Extensible Architecture	Allows for easy integration of custom components
🧪 Comprehensive Benchmarks	Includes comprehensive benchmarks for popular hardware components

👥 Ideal for Roboticists Who

• Want to develop robotic algorithms for the Open-Source Leg platform or any other robotic platform
• Need a reliable and extensible framework for interfacing with various actuators and sensors
• Are working on a robotic project and need a flexible and powerful software development kit
• Are looking for benchmarks to pick the best hardware for their robotic project

🔄 Available Hardware Interfaces

The library currently supports the following hardware components:

Sensors	Unit Tests	Hardware Tests	Benchmarks	Documentation
AS5048B Encoder	✅	✅	❌	✅
Lord Microstrain IMU	✅	✅	❌	✅
SRI Loadcell	✅	✅	❌	✅

Actuators	Unit Tests	Hardware Tests	Benchmarks	Documentation
Dephy Actpack	⚠️	✅	⚠️	✅
Moteus	⚠️	⚠️	⚠️	✅
TMotor	❌	⚠️	❌	❌

Legend: ✅ Complete/Available; ⚠️ Partial/In Progress; ❌ Not Yet Available;

Hardware tests indicate successful testing on physical devices. Benchmarks include performance metrics such as response time and accuracy measurements. Documentation includes API reference and usage examples.

📦 Installation

The library is available on PyPI and can be installed using pip:

pip install opensourceleg

🔧 Hardware-Specific Dependencies

To keep your installation lightweight, you can install only the dependencies needed for your specific hardware:

# For Dephy actuators
pip install opensourceleg[dephy]
# For Moteus actuators
pip install opensourceleg[moteus]
# For I2C communication
pip install opensourceleg[communication]

Extra	Dependencies
dephy	flexsea
moteus	moteus, moteus-pi3hat
communication	smbus2
messaging	grpcio, grpcio-tools, types-protobuf

For more details on the installation process, please refer to the installation guide.

📚 Usage

Once the library is installed, you can import it in your projects and start using the modules:

fromopensourceleg.actuators.dephyimportDephyActuatorfromopensourceleg.sensors.encoderimportAS5048B
...

For more details on available modules, tutorials, and examples, please refer to the documentation.

/ Community Activity

Contributors ✨

Thanks to all the wonderful people who have contributed to the project!

Senthur Ayyappan 🚇🛡️🚧💻	tkevinbest 🐛⚠️💡💻	jderosia 📖⚠️💡💻	Yuanshao Yang ⚠️🐛📖💻	shreyhas 📖⚠️💡
jkotar3 ⚠️🐛💻	esharnow ⚠️🐛📖	Japman Gill ⚠️🐛💻	unshrawal 🐛💻	anujtaosf 📖💡
Varun Satyadev Shetty 📖💡	Katharine-Walters 🐛	zachbons 🐛	Anushka 🐛	Nundini Rawal 🐛
matteo-crotti 🐛	Jiarui Gu 📖	Pranav G 📖💻

Contributions of any kind are welcome! For more details, read our contribution guidelines.

📝 License

The opensourceleg library is licensed under the terms of the LGPL-v2.1 license. This license grants users a number of freedoms:

• You are free to use the opensourceleg library for any purpose.
• You are free to modify the opensourceleg library to suit your needs.
• You can study how the opensourceleg library works and change it.
• You can distribute modified versions of the opensourceleg library.

The LGPL license ensures that all these freedoms are protected, now and in the future, requiring everyone to share their modifications when they also share the library in public.

🐛 Issues

Found a bug or have a suggestion? Please open an issue.