See here:

1. http://www.cs.cmu.edu/~cga/ode/

(Do not forget to copy the library and header files as instructed)

2. https://www.ode-wiki.org/wiki/index.php?title=Manual:_Install_and_Use

1. Install ODE using instructions above, but call ./configure as

./configure --enable-double-precision --with-trimesh=opcode --enable-new-trimesh --enable-shared

2. From the ODE root directory, cd into bindings/python

3. python setup.py install.

Full instructions can be found here at the ODE wiki.

####Troubleshooting

1. You may need to use sudo when you call make install while installing ODE itself.

2. If you receive an error while trying to import ode into python, try running sudo ldconfig

g++ tensegrity.cpp -o tensegrity -lode -ldrawstuff -lX11 -lGLU -lGL -lpthread

Download tensegrity and run ./tensegrity to run the compiled demo.

Some good ODE tutorials:

1. http://demura.net/english