Level 0 Developer Guide
This page is a document map for control close to joints and sensors. There is no prerequisite order vs the Level 1 guide. Choose the track that matches your goal.
What LV0 SDK covers
- Direct development of per-joint torque, gains, and targets
- Reading sensor data (IMU, joint encoders, etc.)
- Research/control use cases that require deep real-time feedback (joint/foot/IMU)
If you only need predefined gaits and motions, refer to the Level 1 Developer Guide.
If you only plan field operation through RBQGUI, Common Guide may be enough.
Prerequisites
| Item | Details |
|---|---|
| OS | Ubuntu 22.04 (x86_64) recommended - system requirements in Developers guide |
| Network | For real robot operation, use the same network setup as Controller & Wi-Fi |
| Multi-process | In API, process ID and setMotionOwner() are required before joint-level commands |
Suggested reading order
- Read Common guide first.
- Read Developers guide together.
- In API, focus on the required C++ APIs.
- In ROS2, follow quick start first and validate with examples.
- Simulation/training: RBQ GYM, RBQ Lab; run trained policies with rbq_example_level_0 (RBQ SDK).
- Updates & contact: GUI software update, Robot software update, Error reporting.
Safety & disclaimer
Directly controlling joints via API can go beyond normal intended operation. Review the user responsibility disclaimer and API, then validate in simulation, at low speed, and in a clear area before hardware tests.
Changing control loops or torque increases risk of falls, joint-limit hits, and collisions. During operation, RBQGUI intervention must remain possible - GUI introduction, Basic motion commands, Emergency stop procedures.