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README.md

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+# Quick start
+## Installation
+Install the pre-requisites and the RoboCup Soccer 2D Platform using the commands below:
+``` Bash
+sudo apt-get install fuse #Used to run AppImages
+pushd scripts
+sh download-rcssserver.sh #install RoboCup Server
+popd
+```
+Next, install the soccer proxy, which uses C++ to read and pre-processes state data and passes them to the Python server (this project) for decision-making.
+``` Bash
+pushd scripts
+sh download-proxy.sh.sh #install C++ proxy
+popd
+```
+Clone this repository & install the required python libraries (such as gRPC). Don't forget to activate your virtual environment!
+``` Bash
+git clone https://github.com/CLSFramework/sample-playmaker-server-python-grpc.git
+cd sample-playmaker-server-python-grpc
+# Activate venv/anaconda before this step!
+pip install -r requirements.txt
+```
+Finally, download the monitor from [the original repository](https://github.com/rcsoccersim/rcssmonitor/releases) in order to view the games.
+## Running a game
+This section assumes you have installed the server & proxy using the scripts (as mentioned above)
+We must first run a RoboCup Server, in order to host the game:
+``` Bash
+cd scripts/rcssserver
+./rcssserver
+```
+Then we must run the proxy & the decisionmaking server:
+``` Bash
+./start-team.sh
+```
+Launch the opponent team, start the monitor app image. press <kbd>Ctrl</kbd> + <kbd>C</kbd> to connect to the server, and <kbd>Ctrl</kbd> + <kbd>K</kbd> for kick-off!
+
+# How to change the code
+The `server.py` file contains the logic in 3 main functions:
+`GetPlayerActions` receives a game state, and returns a list of actions for a player for for that cycle.
+The actions we can output are equivalent to the Helios Base, which are abstracted into multiple levels.
+You can use actions such as `DoDash`, `DoTurn`, `DoKick` which directly apply force, or use actions such as `GoToPoint`, `SmartKick`, `Shoot` or more.
+
+Similarly, you can change `GetCoachActions` which is responsible for coach communication & substitutions.
+
+You can also use `GetTrainerActions` to move the players & the ball to make repeatable scenarios (when the server is in trainer mode).
+# Why & How it works
+Originally the RoboCup 2D Soccer Simulation teams used C++, as the main code base (Agent2D aka Helios Base) was written in this language due to its performance.
+Due to the popularity of python in Machine Learning & AI spaces we decided to create a python platform which would be equivalent to Agent 2D.
+However, using python alone was too slow as preprocessing sensor information & tasks such as localization took too long.
+
+For this reason we have split up the code into two segments:
+The data processing section in proxy, which creates a World Model (state), and passes it to python for planning to occur. This repository uses gRPC to pass along the World Model, but there is a sister-repo which is compatible with thrift.
+
+![cls](https://github.com/user-attachments/assets/4daee216-1479-4acd-88f2-9e772b8c7837)
+As seen in the figure, the proxy handles connecting to the server, receiving sensor information and creating a world-model, and finds the action to take via a remote procedure call to a decision-making server, which is this repository.
+
+# Configuration
+## RoboCup Server configuration
+You can change the configuration of the RoboCup server and change parameters such as players' stamina, game length, field length, etc. by modifying `~/.rcssserver/server.conf`. Refer to the server's documents and repo for a more detailed guide.
+
+## Modifying Proxy & Running proxy and server seperately
+If you want to modify the algorithms of the base (such as ball interception, shooting, localization, etc.) you must modify the code of the [proxy repo](https://github.com/CLSFramework/soccer-simulation-proxy). After re-building from source, you can run the proxy by using `./start.sh --rpc-type grpc` in the bin folder of the proxy, and run the gRPC server with `python3 server.py` in this repo's directory. It is highly recommended to launch the python server before the proxy.
+
+You can modify the rpc port by adding the argument `--rpc-port [VALUE]`, where the default is 50051. 
+
+# Citation
+
+- [Cross Language Soccer Framework](https://arxiv.org/pdf/2406.05621)
+- Zare, N., Sayareh, A., Sadraii, A., Firouzkouhi, A. and Soares, A., 2024. Cross Language Soccer Framework: An Open Source Framework for the RoboCup 2D Soccer Simulation. arXiv preprint arXiv:2406.05621.