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:
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 for the full technical interface of these joints.