An open-source software library for numerical computation, data acquisition, and control of lower-limb robotic prostheses.#

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Before installing opensourceleg library, you should ensure that you have the following prerequisites installed:

  • Python 3.9 or later

  • pip package manager


The easiest and quickest way to install the opensourceleg library is via pip:

pip install opensourceleg

If you plan on installing the opensourceleg library on a Raspberry Pi, we recommend using opensourcelegpi tool, which is a cloud-based CI tool used to build an up-to-date OS for a Raspberry Pi that can be used headless/GUI-less to control autonomous/remote robotic systems. This tool bundles the opensourceleg library and its dependencies into a single OS image, which can be flashed onto a microSD card and used to boot a Raspberry Pi. For more information, click here.

Getting Started#

For new users, we recommend visiting the Getting Started page for an overview of the library and its documentation.


To modify, develop, or contribute to the opensourceleg library, we encourage you to install Poetry, which is a python packaging and dependency management tool. Once you have Poetry installed on your local machine, you can clone the repository and install the opensourceleg library by running the following commands:

git clone
cd opensourceleg

poetry install
poetry shell


The opensourceleg library is licensed under the terms of the GPL-3.0 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 GPL 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.