Reading and writing Bittle's joint angles on a MacBook
I trained a reinforcement learning model for my Bittle using Isaaclab. It can move around in a simulated physical world. I want to communicate with Bittle via my Mac, collect the angle of each joint as input to the trained policy model, obtain the joint angle at the next time step, and then send it to Bittle for execution. My question is, does Bittle provide this functionality (reading and writing joint angles)?
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When talking about reading joint angles, it may refer to:
Extracting the angle from the memory. It should be exactly the same angle you sent previously. The currentAng[] array keeps all that data.
Reading the actual angle from the servos because they could be moved by external force. You can find the corresponding code in OpenCatEsp32 for reading the servo feedback.