2025-10-16

• Came up with a plan for building on robocup-mujoco:
  • robocup-mujoco consists of a single simulation server that communicates with any number of agents & monitors over network.
  • Idea is to develop a ROS2-based agent that directly runs Booster’s C++ ROS2 nodes; can replace behavior-related nodes (brain) with our own Python nodes to make the agent RL trainable.
  • Can also develop a Python-only agent for training policies that don’t require realisitc observations (like AbstractSim).
• Tasks
  • Get robocup-mujoco working on Mac.
  • Get robocup working on lab machine.
  • Learn ROS2 basics.
  • Get Booster’s walk policy working on robocup-mujoco to verify simulation integrity.