readme.md

# Apollo Mujoco base code for training on CPU

This is a Python-based base code developed for the RCSSServerMJ. It was created to simplify the onboarding process for new teams joining the RoboCup 3D Soccer Simulation League using the Mujoco Simulator.

This code was influenced by the early demonstrations from MagmaOffenburg team of a client for the RCSSServerMJ, and the FCPortugal base code for the SimSpark simulator.

## Installation

### Make sure the following are installed on your system:

- Python ≥ 3.13
- Any Python dependency manager can be used, but **either Poetry is recommended**.

- **Poetry ≥ 2.0.0** ([Installation Guide](https://python-poetry.org/docs/#installing-with-pipx))

### Install Dependencies
The project dependencies are listed inside pyproject.toml

Using **Poetry**:
```bash
poetry install
```

## Instructions

### Run an agent
After installing the dependencies and setting up the environment, you can launch a player instance:

```bash
python3 run_player.py -n <player-number> -t <team-name>
```

Using **Poetry**:
```bash
poetry run python run_player.py -n <player-number> -t <team-name>
```

CLI parameter (a usage help is also available):

- `--host <ip>` to specify the host IP (default: 'localhost')
- `--port <port>` to specify the agent port (default: 60000)
- `-n <number>` Player number (1–11) (default: 1)
- `-t <team_name>` Team name (default: 'Default')


### Run a team
You can also use a shell script to start the entire team, optionally specifying host and port:

```bash
./start.sh [host] [port]
```

Using **Poetry**:
```bash
poetry run ./start.sh [host] [port]
```

CLI parameter:

- `[host]` Server IP address (default: 'localhost')
- `[port]` Server port for agents (default: 60000)

### Binary building
To compete, a binary is needed. It provides a compact, portable version and protects the source code. To create a binary, just run the script ```build_binary.sh```

```bash
./build_binary.sh <team-name>
```

Using **Poetry**:
```bash
poetry run ./build_binary.sh <team-name>
```

Once binary generation is finished, the result will be inside the build folder, as ```<team-name>.tar.gz```

### GYM

To use the gym, you need to install the following dependencies:
```bash
pip install gymnasium
pip install psutil
pip install stable-baselines3
```

Then, you can run gym examples under the ```GYM_CPU``` folder:
```bash
python3 -m scripts.gyms.Walk # Run the Walk gym example
                             # of course, you can run other gym examples
```

### Authors and acknowledgment
This project was developed and contributed by:
- **Chenxi Liu**
- **Xuehao Xu**

### Thanks for 
- **Alan Nascimento**
- **Luís Magalhães**
- **Pedro Rabelo**
- **Melissa Damasceno**

Contributions, bug reports, and feature requests are welcome via pull requests.