In MacOS X, OpenHRP3 is installable by following the procedure of this page. At present, it corresponds to the version 10.5 of MacOS X. The command line input from a terminal is used in installation. A terminal can be started from "Macintosh HD"-"application"-"utility"- "terminal" of Finder. macports which is a package manager of Mac OS is used for installation of software.

Installation of development environment

Please install Mac OS development environment xcode.

Installation of OpenRTM for MacOS X

Please refer to the following pages.

Install openrtm-macports

Please download openhrp-macports package from here. Please develop the package of openhrp-macports to a suitable directory as follows. 

$ cd (install directory)
$ tar zxvf (download directory)/openhrp-macports.tar.gz
Please open the configuration file of macports (/opt/local/etc/macports/sources.conf), add the following lines to the last. 
file:///(install directory)/openhrp-macports

Java Media Framework (JMF)

Please download JMF for java from "Downloads" ofhttp://java.sun.com/products/java-media/jmf/. The page of which platform may be sufficient as Linux/Windows/Solaris etc. Please select the all java version. Please move the downloaded file to the following places. 

$ sudo mkdir /opt/local/var/macports/distfiles/JMF
$ sudo mv (download directory)/jmf-2_1_1e-alljava.zip /opt/local/var/macports/distfiles/JMF/

Install boost, jython, CLAPACK, tvmet, JMF

Please install boost, jython, CLAPACK, tvmet, JMF using the port command. 

$ sudo port -v install boost jython CLAPACK tvmet JMF

Extraction of an OpenHRP3 sauce package

Please extract OpenHRP-xxx.zip sauce package.

The extraction place of OpenHRP3 sauce is good anywhere. In the following examples, it is extracted below at an OpenHRP directory. Please start a terminal and input the following commands. 

$ cd 
$ mkdir OpenHRP
$ cd OpenHRP
$ unzip (download directory)/OpenHRP-xxx.zip
An OpenHRP-xxx directory is built under an OpenHRP directory.

Preparation of compile

Please set up compile using the "Make.vars" file in a sauce directory. Refer to Compilation of OpenHRP using Make command for detailed explanation. We use the file set up beforehand.

First, please move to the sauce directory of OpenHRP3. 

$ cd ~/OpenHRP/OpenHRP-xxx

In order to create a configuration file, please perform it as follows. 

$ cp Make.vars.macosx Make.vars

Compile of OpenHRP3

Please execute the make command in the sauce directory of OpenHRP3. 
$ make

Now, the executable file of OpenHRP3 is generated.

Next, let's go a sample simulation.