Installing `lib601` On Mac OSX

Known Issues on OSX:

• Issues with tk graphics, particularly in "Snow Leopard" and newer
• Issues with saving plots from plotWindow (related to tk issues)

1) Check for Pre-existing Python

Python is pre-installed on MacOS X, but it is often an older version, for this class, you will need Python 3.5.

First open a Terminal window (from the Applications/Utilities folder). Type python3 and see whether it says Python 3.5.x. If it does, you can skip the section labeled "Install Python". If not, follow the Install Python instructions.

2) Install Python

If you did not already have Python 3.5 or newer installed, you will need to install it. You can get a Python installer here:

• Python 3.7.2 (64-bit) for Mac OSX 10.9 and higher
• Python 3.7.2 (64-bit/32-bit) for Mac OSX 10.6 and higher

3) Install Xcode Tools

In order to install Numpy and Matplotlib (which are required for lib601), you will first need to install the Mac OSX command line developer tools. Do this by entering the following command (without the dollar sign) at the command prompt:

$ sudo xcode-select --install

If you are greeted with a window, you should click the "Install" button (you will not need to click "Get Xcode").

4) Install Numpy and MatPlotLib

Next, install numpy and matplotlib by running the following command:

$ sudo pip3 install numpy matplotlib

This step may take a while, please be patient.

Next, you will most likely need to modify a default property with matplotlib. You can do this by downloading the file here and move it to your home directory. Then open up a terminal and run the following command:

mv ~/matplotlibrc ~/.matplotlib/

You should then be good! If you have any issues post on Piazza!

5) Install 6.01 Software and SoaR

Download the lib601 software, as well as the soar and cmax applications:

• lib601
• cmax
• soar

Save those files somewhere, use cd to navigate to the directory where you saved them, and run the following command to extract the files:

tar xvfz lib601-S19-1.tar.gz

Then, use cd to move into the directory that was just created (lib601-S19-1), and run:

sudo python3 setup.py install

Then repeat this process (extract the files, and run setup.py) for both Soar-1.5.2.tar.gz and CMax-5.13.tar.gz as well.

6) Controlling the physical robot (Optional)

It is recommended that you use the lab laptops to control your physical robot; however, it is possible to do so using your personal laptop.

To initiate serial communication with the robot under soar, you need to:

1. Install drivers for the USB-serial adapter, available at http://www.prolific.com.tw/US/ShowProduct.aspx?p_id=229&pcid=41.
2. Restart your computer.
3. When you plug in the robot for the first time, a dialog may pop up about a new network interface. Click the button to open network preferences, and just click "Apply" there; the USB Serial interface will show up as "Not configured," but that's fine.

Please send comments, fixes, and bug reports to hz@mit.edu. For help installing, please come to office hours and ask in person.