.. _l0:

Oncilla L0
==========

The Oncilla L0 joint represents the adduction-abduction scapula joint. It can be
controlled in position and sense forces along the legs.

Joint space control and force sensing of L0:

.. code-block:: cpp
   :emphasize-lines: 5,7, 9

   Oncilla oncilla; // get robot instance
   L0::Ptr left_fore_hip = oncilla.getL0(LEFT_FORE); // get left fore l0 joint

   JointAnglesPtr command = JointAngles::fromRad(3.14); // in radians
   left_fore_hip->setJointPosition(command); // send new command

   std::cout << left_fore_hip->getJointPosition(); // get current position

   std::cout << left_fore_hip->getForces(); // get current force sensing

Refer to the API documentation of
`rci::oncilla::OncillaL0 <https://redmine.amarsi-project.eu/projects/quaddrivers/embedded/classrci_1_1oncilla_1_1OncillaL0.html>`_
for the full technical interface of these joints.