Information regarding usability of model

[JonathanMortes]

Is your feature request related to a problem? Please describe. Not really. It's more about the missing information regarding how the spot_real code really works on the Rpi in order to implement it in other similar systems.

Describe the solution you'd like More information on how the code works and handles the models and information.

Additional context I’m finishing my masters degree project with spotmicroai and my idea is to communicate via ros and do Control + extract all sensor info and after reading the paper and seeing the project, I was very interested in using RL for the gait. I’m using an ESP32 as an interface for low level control inside the robot and I’m able to comunicate via serial and/or wifi with a linux system (RPi / PC) for the heavy lifting. My goal is to use the spot_real with RL as a starting point and further down the line develope the model and extras. But I really did not get how the software runs on the RPi on your implementation. I understood that The board on spot reads and handles sensors via serial as well as handling the bidirectional communication with the motors. But I’d love to know/understand better how does the RPi handle this info and apply the trained model with RL for the gait control (I believe it’s part of the launch file) but if you could explain it a bit it would be wonderful and really appreciated. This way I could iterate on it and develope a new approach for communication that I will share and cite on the publication.

Any help is welcomed. :D

[JonathanMortes]

I believe I've fixed it and updated it for Noetic. Will request a Pull in a couple of days