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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

Prebuilt Python libraries

For Mac OSX (Mavericks) 10.9 and above, and Python 2.7, or 3.5-3.12, you should be able to simply run

  • pip install klampt

To run a visualization, you will need PyOpenGL and PyQt5 (or PyQt6):

  • pip install PyOpenGL
  • pip install PyQt5
  • git clone http://github.com/krishauser/Klampt-examples (this is needed to run example programs)
  • cd Klampt-examples/Python3/demos/control
  • python simulated_mirobot.py

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 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/Cpp/Dependencies; 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

  10. Obtain the Klampt-examples package and test whether the build works:

    git clone http://github.com/krishauser/Klampt-examples
bin/SimTest Klampt-examples/data/athlete_fractal_1.xml

Building the 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 and PyQt5 with:

    pip install PyOpenGL PyQt5

  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 Python3/demos/control/kbdrive.py data/manipulation_worlds/tx90roll.xml