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+# Apollo Mujoco base code for training on GPU
+
+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 = 3.11
+
+- Any Python dependency manager can be used, but **either Poetry is recommended**.
+
+### Install Dependencies
+The project dependencies are listed inside pyproject.toml
+
+- IsaacLab and IsaacSim
+```bash
+# Create a virtual environment using one of the package managers:
+
+  conda create -n env_isaaclab python=3.11
+  conda activate env_isaaclab
+
+# Ensure the latest pip version is installed. 
+# To update pip, run the following command from inside the virtual environment:
+
+  pip install --upgrade pip
+# Install the Isaac Lab packages along with Isaac Sim:
+
+  pip install isaaclab[isaacsim,all]==2.3.2.post1 --extra-index-url https://pypi.nvidia.com
+# Install a CUDA-enabled PyTorch 2.7.0 build for CUDA 12.8 that matches your system architecture:
+
+  pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+
+# To use rl_games for training and inferencing, install its Python 3.11 enabled fork:
+
+  pip install # rl_games or rsl_rl or stable-baselines3 based on your model
+```
+
+## 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>
+```
+
+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]
+```
+
+
+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>
+```
+
+Once binary generation is finished, the result will be inside the build folder, as ```<team-name>.tar.gz```
+
+### 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.