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**opensourceleg**: An open-source SDK for developing and testing algorithms on commonly used robotic hardware. Originally developed for the [Open-Source Leg](https://www.opensourceleg.org/) 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 3.11 and above are supported. > If you need compatibility with Python 3.9, please install `opensourceleg 3.2.1`: > ```bash > pip install opensourceleg==3.2.1 > ``` > Python 3.10 is not supported. ## 🎯 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: ```bash pip install opensourceleg ```

🔧 Hardware-Specific Dependencies

To keep your installation lightweight, you can install only the dependencies needed for your specific hardware: ```bash # 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](https://neurobionics.github.io/opensourceleg/installation). ## 📚 Usage Once the library is installed, you can import it in your projects and start using the modules: ```python 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](https://neurobionics.github.io/opensourceleg/tutorials/sensors/getting_started). ## [![Repography logo](https://images.repography.com/logo.svg)](https://repography.com) / Community Activity [![Time period](https://images.repography.com/63788890/neurobionics/opensourceleg/recent-activity/iG94TwYB5IO_esvflL1mNk_1EL1bAD6JZ1guhH_p4ek/eOAVZwtHiffhksyJHZ7XihsPlw5JaT6XcoWMERSIhHs_badge.svg)](https://repography.com) [![Timeline graph](https://images.repography.com/63788890/neurobionics/opensourceleg/recent-activity/iG94TwYB5IO_esvflL1mNk_1EL1bAD6JZ1guhH_p4ek/eOAVZwtHiffhksyJHZ7XihsPlw5JaT6XcoWMERSIhHs_timeline.svg)](https://github.com/neurobionics/opensourceleg/commits) [![Issue status graph](https://images.repography.com/63788890/neurobionics/opensourceleg/recent-activity/iG94TwYB5IO_esvflL1mNk_1EL1bAD6JZ1guhH_p4ek/eOAVZwtHiffhksyJHZ7XihsPlw5JaT6XcoWMERSIhHs_issues.svg)](https://github.com/neurobionics/opensourceleg/issues) [![Pull request status graph](https://images.repography.com/63788890/neurobionics/opensourceleg/recent-activity/iG94TwYB5IO_esvflL1mNk_1EL1bAD6JZ1guhH_p4ek/eOAVZwtHiffhksyJHZ7XihsPlw5JaT6XcoWMERSIhHs_prs.svg)](https://github.com/neurobionics/opensourceleg/pulls) [![Top contributors](https://images.repography.com/63788890/neurobionics/opensourceleg/recent-activity/iG94TwYB5IO_esvflL1mNk_1EL1bAD6JZ1guhH_p4ek/eOAVZwtHiffhksyJHZ7XihsPlw5JaT6XcoWMERSIhHs_users.svg)](https://github.com/neurobionics/opensourceleg/graphs/contributors) [![Trending topics](https://images.repography.com/63788890/neurobionics/opensourceleg/recent-activity/iG94TwYB5IO_esvflL1mNk_1EL1bAD6JZ1guhH_p4ek/eOAVZwtHiffhksyJHZ7XihsPlw5JaT6XcoWMERSIhHs_words.svg)](https://github.com/neurobionics/opensourceleg/commits) [![Activity map](https://images.repography.com/63788890/neurobionics/opensourceleg/recent-activity/iG94TwYB5IO_esvflL1mNk_1EL1bAD6JZ1guhH_p4ek/eOAVZwtHiffhksyJHZ7XihsPlw5JaT6XcoWMERSIhHs_map.svg)](https://github.com/neurobionics/opensourceleg/commits) ## 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](https://neurobionics.github.io/opensourceleg/contributing/). ## 📝 License The `opensourceleg` library is licensed under the terms of the [LGPL-v2.1 license](https://github.com/neurobionics/opensourceleg/raw/main/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](https://github.com/neurobionics/opensourceleg/issues).