==== Requirements ====

== Python3 ==

The following python3 packages are required. Use, e.g., pip3 to install them.

<code bash>
pip3 install numpy
pip3 install matplotlib
pip3 install Dijkstar
pip3 install dubins
pip3 install sklearn
pip3 install scikit-image
</code>

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== Robotic Simulator CoppeliaSim/V-REP  ==

[[http://www.coppeliarobotics.com/|CoppeliaSim (formarly V-REP)]] is a powerful cross-platform 3D simulator based on a distributed control architecture: control programs (or scripts) can be directly attached to scene objects and run simultaneously in a threaded or non-threaded fashion. It features advanced physics engines which allows to simulate real-world physics and object interactions (collisions, object dynamics, etc.). 

[[http://www.coppeliarobotics.com/helpFiles/en/externalControllerTutorial.htm|CoppeliaSim control methods]]\\ 
[[http://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsPython.htm|CoppeliaSim Python remote API documentation]]\\ 
[[http://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctions.htm|CoppeliaSim C++ remote API documentation]]

[[http://www.edisondev.net/VREP/04PythonTutorial|CoppeliaSim Python remote API tutorial]]

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== Hexapod model for CoppeliaSim/V-REP ==
{{:courses:uir:labs:phantomx.jpg?200|PhantomX MarkII hexapod robot}}\\
{{:courses:uir:labs:phantom_model.zip|Hexapod model}}

Hexapod servos numbering:\\
{{:courses:uir:labs:hexapod.png?200|}}

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== LP Solvers ==

LP solver is needed for the game theory tasks. Upload system works with Gurobi. A guide for Gurobi is available on the [[ https://cw.fel.cvut.cz/b192/_media/courses/ko/01_gurobi.pdf|Combinatorial Optimization course pages]].