Getting Started with Open-Source Leg Software

Develop your own control strategy for the Open-Source Leg today!

The Open-Source Leg software platform is designed to be modular and flexible to allow for easy integration with a wide variety of sensors and robotics frameworks. The software library is written in Python and is compatible with Python 3.9 and above. The library is designed to run on debian based linux distributions. You'll find instructions below on how to setup a Raspberry Pi to control your OSL and how to install our python library.

Step 1 of 2: Building a Custom Raspberry Pi OS

We’ve developed a CI tool to build an up-to-date Raspbian OS that can be used headless to control the OSL or any robotic system in general. The tool reconfigures an official Raspbian distro to include custom packages for robotics and automation, wireless connectivity to a known and configurable WiFi network, and finally, it will create a fallback access point when the known wireless networks are not in range. This enables usage of the same process and hardware when not in the known Wifi network range (e.g. demos and conferences). All the libraries that are necessary for communication, drivers for common sensors and ICs, and the API for working with Dephy actuators are installed by default. Additional packages can also be added to the configuration file. Instructions on how to build, modify, and download your own Raspbian OS can be found on the link below. This image can take around 20-25 minutes to complete.

Raspberry Pi Imaging Tool
Step 2 of 2: Flashing your Custom OS to an SD card

After downloading the image file, you can use the official Raspberry Pi Imager, Etcher, or any similar software to flash the image onto a microSD card. A tutorial for the Raspberry Pi Imager is outlined below. Raspberry Pi Imager is used as a quick and easy way to install operating systems to a microSD card, which can be used by a Raspberry Pi. In order to download Raspberry Pi Imager, click this link, then scroll down and click the link for your respective operating system to download the application as shown indicated by the red rectangle in the image below. You can flash the image created above to the microSD card using this software. After inserting the microSD card into your computer, open Raspberry Pi Imager, select the image created above as the operating system, and the microSD card as the storage. Finally, flash the image using the “Write” button. This can take around 5 minutes to complete.

Frequently Asked Questions