diff --git a/.gitea/workflows/unreal-build.yml b/.gitea/workflows/unreal-build.yml
index 6da324d6..c97aa527 100644
--- a/.gitea/workflows/unreal-build.yml
+++ b/.gitea/workflows/unreal-build.yml
@@ -4,8 +4,6 @@ on:
   workflow_dispatch:
   push:
     branches: [ main, develop ]
-  pull_request:
-    branches: [ main, develop ]
 
 jobs:
   # windows-build:
@@ -60,17 +58,100 @@ jobs:
       - name: Setup Unreal Engine
         run: |
           # Use the correct path where Unreal Engine is installed
-          UE_PATH="/Users/Shared/Epic Games/UE_5.5"
+          # Note: Paths with spaces need special handling
+          UE_PATH="/Users/Shared/Epic\ Games/UE_5.5"
           
-          if [ ! -d "$UE_PATH" ]; then
+          # Check the directory exists but use unescaped version for test
+          if [ ! -d "/Users/Shared/Epic Games/UE_5.5" ]; then
             echo "Error: Unreal Engine is not installed in the expected location"
-            echo "Please ensure Unreal Engine is installed at $UE_PATH"
+            echo "Please ensure Unreal Engine is installed at /Users/Shared/Epic Games/UE_5.5"
             exit 1
           fi
           
-          # Set environment variable with the correct Engine path
-          echo "UE_ROOT=$UE_PATH/Engine" >> $GITHUB_ENV
-          echo "Using Unreal Engine 5.5"
+          # Set environment variables with proper escaping
+          # Use double quotes to preserve the backslash escaping
+          echo "UE_ROOT=\"${UE_PATH}/Engine\"" >> $GITHUB_ENV
+          echo "UE_PATH=\"${UE_PATH}\"" >> $GITHUB_ENV
+          
+          # Export variables directly for this script
+          export UE_ROOT="${UE_PATH}/Engine"
+          export UE_PATH="${UE_PATH}"
+          
+          echo "Unreal Engine paths:"
+          echo "UE_ROOT=$UE_ROOT"
+          echo "UE_PATH=$UE_PATH"
+          
+          # Set up MuJoCo library
+          MUJOCO_LIB_DIR="Plugins/LuckyMujoco/Source/ThirdParty/Mujoco/lib"
+          mkdir -p "$MUJOCO_LIB_DIR"
+          
+          # Try to find mujoco.dylib in the repository
+          if [ -f "Plugins/UEMujoco.rar" ]; then
+            echo "Found UEMujoco.rar, attempting to extract..."
+            mkdir -p /tmp/mujoco_extract
+            unrar x "Plugins/UEMujoco.rar" /tmp/mujoco_extract || echo "Failed to extract UEMujoco.rar"
+            
+            # Look for mujoco.dylib in extracted files
+            DYLIB_PATH=$(find /tmp/mujoco_extract -name "mujoco.dylib" | head -1)
+            if [ -n "$DYLIB_PATH" ]; then
+              echo "Found mujoco.dylib at $DYLIB_PATH"
+              cp "$DYLIB_PATH" "$MUJOCO_LIB_DIR/"
+            else
+              echo "Could not find mujoco.dylib in extracted files"
+            fi
+          fi
+          
+          # If still no dylib, try to download it
+          if [ ! -f "$MUJOCO_LIB_DIR/mujoco.dylib" ]; then
+            echo "Attempting to download mujoco.dylib..."
+            curl -L -o "$MUJOCO_LIB_DIR/mujoco.dylib" "https://github.com/deepmind/mujoco/releases/download/2.3.7/mujoco-2.3.7-macos-universal2.dmg"
+          fi
+          
+          # Verify the library exists
+          if [ ! -f "$MUJOCO_LIB_DIR/mujoco.dylib" ]; then
+            echo "ERROR: Failed to set up mujoco.dylib"
+            exit 1
+          fi
+          
+          # Make sure the library is executable
+          chmod +x "$MUJOCO_LIB_DIR/mujoco.dylib"
+          
+          # Try multiple locations for the mujoco library
+          # 1. Create directory in Engine/Source
+          UE_ENGINE_PATH="/Users/Shared/Epic Games/UE_5.5/Engine"
+          mkdir -p "${UE_ENGINE_PATH}/Source"
+          echo "Created directory: ${UE_ENGINE_PATH}/Source"
+          
+          # 2. Copy the library directly (don't rely on symlinks)
+          cp "$(pwd)/$MUJOCO_LIB_DIR/mujoco.dylib" "${UE_ENGINE_PATH}/Source/"
+          echo "Copied library to: ${UE_ENGINE_PATH}/Source/mujoco.dylib"
+          
+          # 3. Also copy to Binaries/Mac directory
+          mkdir -p "${UE_ENGINE_PATH}/Binaries/Mac"
+          cp "$(pwd)/$MUJOCO_LIB_DIR/mujoco.dylib" "${UE_ENGINE_PATH}/Binaries/Mac/"
+          echo "Copied library to: ${UE_ENGINE_PATH}/Binaries/Mac/mujoco.dylib"
+          
+          # 4. Add a fallback into /usr/local/lib
+          sudo mkdir -p /usr/local/lib
+          sudo cp "$(pwd)/$MUJOCO_LIB_DIR/mujoco.dylib" /usr/local/lib/
+          echo "Copied library to: /usr/local/lib/mujoco.dylib"
+          
+          # Verify library files exist
+          echo "Verifying library placements:"
+          ls -la "$(pwd)/$MUJOCO_LIB_DIR"
+          ls -la "${UE_ENGINE_PATH}/Source" || echo "Failed to list Source directory"
+          ls -la "${UE_ENGINE_PATH}/Binaries/Mac" || echo "Failed to list Binaries/Mac directory"
+          ls -la /usr/local/lib/mujoco.dylib || echo "Failed to list library in /usr/local/lib"
+          
+          # Set up environment for the build
+          export DYLD_LIBRARY_PATH="$(pwd)/Plugins/LuckyMujoco/Source/ThirdParty/Mujoco/lib:${UE_ENGINE_PATH}/Source:${UE_ENGINE_PATH}/Binaries/Mac:/usr/local/lib:$DYLD_LIBRARY_PATH"
+          export DYLD_FRAMEWORK_PATH="${UE_ENGINE_PATH}/Binaries/Mac:$DYLD_FRAMEWORK_PATH"
+          export DYLD_FALLBACK_LIBRARY_PATH="${UE_ENGINE_PATH}/Binaries/Mac:${UE_ENGINE_PATH}/Source:/usr/local/lib:$DYLD_FALLBACK_LIBRARY_PATH"
+          
+          echo "Build environment:"
+          echo "DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH"
+          echo "DYLD_FRAMEWORK_PATH=$DYLD_FRAMEWORK_PATH"
+          echo "DYLD_FALLBACK_LIBRARY_PATH=$DYLD_FALLBACK_LIBRARY_PATH"
       
       - name: Build Unreal Project
         run: |
@@ -81,8 +162,11 @@ jobs:
           echo "Current working directory: $(pwd)"
           ls -la  # List all files in current directory
           
+          # Use direct path instead of environment variable
+          UE_ENGINE_PATH="/Users/Shared/Epic Games/UE_5.5/Engine"
+          
           echo "=== Unreal Engine Information ==="
-          ls -la "$UE_ROOT/Build/BatchFiles"
+          ls -la "${UE_ENGINE_PATH}/Build/BatchFiles"
           
           echo "=== Project Information ==="
           # Detailed search for the project file
@@ -105,14 +189,32 @@ jobs:
             exit 1
           fi
           
-          echo "Using Unreal Engine at: $UE_ROOT"
+          echo "Using Unreal Engine at: $UE_ENGINE_PATH"
           
           # Make the project file readable and executable
           chmod 755 "$UPROJECT_ABSOLUTE_PATH"
           
           # Run the build using absolute paths
-          chmod +x "$UE_ROOT/Build/BatchFiles/RunUAT.sh"
-          "$UE_ROOT/Build/BatchFiles/RunUAT.sh" BuildCookRun \
+          chmod +x "${UE_ENGINE_PATH}/Build/BatchFiles/RunUAT.sh"
+          
+          # Set up runtime environment for the build
+          export DYLD_LIBRARY_PATH="$(pwd)/Plugins/LuckyMujoco/Source/ThirdParty/Mujoco/lib:${UE_ENGINE_PATH}/Source:${UE_ENGINE_PATH}/Binaries/Mac:/usr/local/lib:$DYLD_LIBRARY_PATH"
+          export DYLD_FRAMEWORK_PATH="${UE_ENGINE_PATH}/Binaries/Mac:$DYLD_FRAMEWORK_PATH"
+          export DYLD_FALLBACK_LIBRARY_PATH="${UE_ENGINE_PATH}/Binaries/Mac:${UE_ENGINE_PATH}/Source:/usr/local/lib:$DYLD_FALLBACK_LIBRARY_PATH"
+          
+          echo "Final build environment:"
+          echo "UE_ENGINE_PATH=${UE_ENGINE_PATH}"
+          echo "DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH"
+          
+          echo "Checking for mujoco.dylib in key locations:"
+          ls -l "${UE_ENGINE_PATH}/Source/mujoco.dylib" || echo "Library not found in ${UE_ENGINE_PATH}/Source"
+          ls -l "${UE_ENGINE_PATH}/Binaries/Mac/mujoco.dylib" || echo "Library not found in ${UE_ENGINE_PATH}/Binaries/Mac"
+          ls -l "/usr/local/lib/mujoco.dylib" || echo "Library not found in /usr/local/lib"
+          
+          # Run the build with additional debug output
+          echo "Running build command..."
+          
+          "${UE_ENGINE_PATH}/Build/BatchFiles/RunUAT.sh" BuildCookRun \
             -project="$UPROJECT_ABSOLUTE_PATH" \
             -noP4 \
             -platform=Mac \
diff --git a/README.md b/README.md
index a04c046a..b621919a 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,20 @@
 # luckyworld
 
 this is our unreal repository with our complete source code...
+
+steps to pull the source code down and compile
+
+* (Don't download the .zip file. It's best to use the CLI or a visual tool so LFS can install the proper libraries)
+* git clone https://luckyrobots.com/luckyrobots/luckyworld.git
+* cd luckyworld
+* install git lfs
+    * brew install git-lfs (macOS)
+    * sudo yum install git-lfs (linux)
+    * choco install git (windows) or via https://git-scm.com/download/win 
+        * select option to install git-lfs
+* git lfs pull (just in case)
+* right click .uproject file.
+* Generate Visual Studio Project Files (windows)
+    * Open the generated .sln file with your IDE (i.e. Visual Studio or Rider)
+* (The project starts in 5.5 binary version so if you're using source you will need to right click the .uproject and switch your engine version)
+* Debug 'luckyrobots'
\ No newline at end of file