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 # HUMP: a Human-like Upper-limb Motion Planner
-
 This library is designed to generate human-like trajectories of the arms and the hands of humanoid robots.
+Human-like single-arm and dual-arm motion is planned with a naturalistic obstacles-avoidance mechanism.
+## Overview
+The purpose of this document is to provide a brief installation guide of the library, while more technical details are described in the [Wiki pages](https://github.com/zohannn/HUMP/wiki). 
+
+## Installation guide
+Folloe the instructions to guide your installation of the HUMP library.
+
+### Dependencies
+1. Install the [Eigen libraries](http://eigen.tuxfamily.org/index.php?title=Main_Page).
+In Linux Mint anf Ubuntu , you can type:
+```Bash
+sudo apt install libeigen3-dev
+```
+2. Install the [boost libraries](https://www.boost.org/).
+In Linux Mint anf Ubuntu, you can type:
+```Bash
+sudo apt-get install libboost-all-dev
+```
+3. Install [Coinipopt](https://coin-or.github.io/Ipopt/) at the link [https://github.com/zohannn/CoinIpopt](https://github.com/zohannn/CoinIpopt)
+
+Then, prepare your installation folders
+```Bash
+cd /home/${USER}
+git clone https://github.com/zohannn/HUMP.git
+cd HUMP
+```
+### Debug
+```Bash
+mkdir Debug
+cd -DCMAKE_BUILD_TYPE=Debug ..
+make
+make test
+make doc
+```
+### Release
+```Bash
+mkdir Release
+cd -DCMAKE_BUILD_TYPE=Release ..
+make
+make doc