Level 0 Developer Guide

Quick start guide for low-level (Level 0) control near joints and sensors.

Prerequisites

Item	Details
OS	Ubuntu 22.04 (x86_64) recommended
Basic understanding	Common guide, Developers guide
Runtime environment	Real robot or simulation launched with scripts/sim.bash

Quick Start

1. Read Common guide first.
2. Prepare the environment with Developers guide.
3. Set up SDK using RBQ SDK.
4. Build and run rbq_example_level_0.
5. Extend only the features you need after verifying the baseline behavior.

Typical Level 0 Work

• Directly setting per-joint command values (pos/kp/kd/torque)
• Using low-level state data (IMU, joints, joystick)
• Testing policy-based locomotion with ONNX models

For predefined motion API-oriented development, use the Level 1 Developer Guide.

Reference Example

• Code: rbq_examples/src/rbq_example_level_0.cpp
• Detailed walkthrough: rbq_example_level_0

Safety Notes

• Level 0 direct control can increase fall/collision risk. Validate in simulation first.
• Run hardware tests at low speed, in a clear area, with emergency stop available.
• See User Responsibility Disclaimer and Emergency Stop Procedures.

Related Docs

• Concept
• Developers guide
• API
• ROS2
• RBQ GYM
• RBQ Lab