Skip to content

opensourceleg

Build status Documentation Status Python Version Dependencies Status

Code style: black Security: bandit Pre-commit License Coverage

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.

We are currently testing the new version of the library (main branch), and the PyPI release will be updated soon. If you are looking for the source behind the existing PyPI release, please refer to the legacy branch.

🎯 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

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:

from opensourceleg.actuators.dephy import DephyActuator
from opensourceleg.sensors.encoder import AS5048B
...

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

📝 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.

🤝 Contributing

Contributions are welcome, and they are greatly appreciated! For more details, read our contribution guidelines.