The Oncilla L4 joint represents the foot of the robot. It can’t be controlled and currently doesn’t provide any sensing features. In the oncilla interface it is therefore implemented as supervisor, as poses and forces can be sensed with external sensors. This is currently implemented in simulation, which can report the current cartesian pose and the contect forces of the foot.
Joint space control and force sensing of L4:
Supervisor supervisor; // get robot instance
SupervisorL4::Ptr left_fore_foot = supervisor.getL4(LEFT_FORE); // get foot supervisor
std::cout << left_fore_foot->getForces(); // get current force sensing
std::cout << left_fore_foot->getPose(); // get current 6d pose
Refer to the API documentation of rci::oncilla::SupervisorL4 for the full technical interface of these joints.