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+## Installation instructions
+### C++ 
+The project needs a few dependencies to be installed. These are broccoli, the robotics library as well as pybind11 in order to create bindings between Python and C++ code. To prevent any troubles while installing them in the next step make sure you have the following packages installed. Check or otherwise install them running `sudo apt install cmake python3-dev python3-distutils` in the command line.
+
+Download the robotics library and put it into `/opt/`. Brocolli and pybind11 are directly installed to the system. Therefore clone the respective repo using git. 
+#### pybind11
+Run the following commands to install pybind11 globally to your system
+```
+# Classic CMake
+cd pybind11
+mkdir build
+cd build
+cmake ..
+make install
+
+# CMake 3.15+
+cd pybind11
+cmake -S . -B build
+cmake --build build -j 2  # Build on 2 cores
+cmake --install build
+```
+Installation instruction for pybind11 can be also found [here](https://pybind11.readthedocs.io/en/stable/compiling.html#building-with-cmake)
+
+##### broccoli
+cd in cloned brocolli repo. Then run the commands to install brocolli to your system
+```
+mkdir build
+cd build
+cmake ..
+make install
+```
+