Install-Mac.md

Klamp't Tutorial: Installation on Mac OSX

In this tutorial we learn how to install Klamp't, step by step.

Difficulty: easy

Time: 10-30 minutes

Mac OSX, from source

1. You will need to install the Xcode Command Line Tools. To see if they are installed, run

   xcode-select -p
   

   If you see

   /Applications/Xcode.app/Contents/Developer
   

   then the full Xcode package is already installed. If not, you'll need to run

   xcode-select --install
   

2. Install XQuartz from http://xquartz.macosforge.org/

3. Install homebrew from http://brew.sh

4. In the terminal, run

   brew install assimp boost cmake ffmpeg freeglut glui homebrew/science/glpk python qt5 ode --with-double-precision
   

5. Clone the Klamp't git repo:

   git clone https://github.com/krishauser/Klampt
   

6. Make the Klamp't dependencies:

   cd Klampt/Library; make unpack-deps; make deps
   

7. Configure Klamp't via CMake

   cd .. cmake .
   

   or

   cmake -DCMAKE_BUILD_TYPE=Debug .
   

   if you wish to have debugging information.

8. Compile the Klamp't static library:

   make Klampt
   

9. Make the apps:

   make apps
   

   and test that they work:

   ./SimTest data/athlete_fractal_1.xml
   

To install the Klamp't Python bindings:

1. Modify ~/.bash_profile as follows to use the homebrew version of Python:

   export PATH=~/bin:/usr/local/bin:$PATH export PYTHONPATH=/usr/local/lib/python2.7/site-packages
   

2. Restart your terminal window and check that you have the right Python:

   which python
   

   should return

   /usr/local/bin/python
   

3. In the terminal, install PyOpenGL with:

   pip install PyOpenGL
   

4. Make and install the Klamp't Python bindings:

   make python make python-install
   

   Note: sudo is not required for installation if you use homebrew's Python.

5. Test that the Python bindings work:

   python Python/demos/kbdrive.py data/tx90roll.xml