A new version of OpenHRP3, OpenHRP 3.1.0-Release, has been released. Details are available at the OpenHRP3 official website. Source code and Ubuntu packages (with installation script) are available from here.
The Ubuntu packages are stored in the same repository server as the OpenRTM-aist packages. If you have already added OpenRTM-aist's repository server to the source.list file, OpenHRP can be installed by apt-get command.
OpenHRP3 is a dynamics simulator for robotic systems which enables simulation of your own robot models and controller program. Robot controllers can be developed as RT-Components, and sensors in the simulation environment can be accessed as RT-Components.