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)

Install Dependencies

The project dependencies are listed inside pyproject.toml

Using Poetry:

poetry install

Instructions

Run an agent

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

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

Using Poetry:

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:

./start.sh [host] [port]

Using Poetry:

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

./build_binary.sh <team-name>

Using Poetry:

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:

pip install gymnasium
pip install psutil
pip install stable-baselines3

Then, you can run gym examples under the GYM_CPU folder:

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.