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<!DOCTYPE html>
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<title>Drake: Installation via Direct Download</title>
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content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
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<h1>Installation via Direct Download</h1>
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<h1 id="binary-packages">Binary Packages</h1>
<p>Drake publishes pre-compiled binaries as binary downloads (<code class="language-plaintext highlighter-rouge">*.tar.gz</code>)
for all supported operating systems. Refer to
<a href="/installation.html#supported-configurations">Supported Configurations</a>
for compatibility details.</p>
<p>To learn about other installation methods, refer to
<a href="/installation.html">Installation and Quickstart</a>.</p>
<p>If you experience any problems with or have questions about Drake, please
<a href="/getting_help.html">ask for help</a>.</p>
<p>Drake binary releases incorporate a pre-compiled version of
<a href="https://ccom.ucsd.edu/~optimizers/solvers/snopt/">SNOPT</a> as part of the
<a href="https://drake.mit.edu/doxygen_cxx/group__solvers.html">Mathematical Program toolbox</a>.
Thanks to Philip E. Gill and Elizabeth Wong for their kind support.</p>
<p>Drake’s binary releases do not support the Gurobi solver. To use
Gurobi, you will need to build Drake from source following the instructions in
<a href="/from_source.html">Source Installation</a>.</p>
<h2 id="stable-releases">Stable Releases</h2>
<p>Binary packages of Drake for Ubuntu 22.04 (Jammy), Ubuntu 24.04 (Noble), and
Mac are available to download as attachments from Drake’s GitHub
<a href="https://github.com/RobotLocomotion/drake/releases">releases</a> page.</p>
<p>The most recent release is
<a href="https://github.com/RobotLocomotion/drake/releases/tag/v1.36.0">v1.36.0</a>:</p>
<ul>
<li><a href="https://github.com/RobotLocomotion/drake/releases/download/v1.36.0/drake-1.36.0-jammy.tar.gz">https://github.com/RobotLocomotion/drake/releases/download/v1.36.0/drake-1.36.0-jammy.tar.gz</a></li>
<li><a href="https://github.com/RobotLocomotion/drake/releases/download/v1.36.0/drake-1.36.0-noble.tar.gz">https://github.com/RobotLocomotion/drake/releases/download/v1.36.0/drake-1.36.0-noble.tar.gz</a></li>
<li>https://github.com/RobotLocomotion/drake/releases/download/v1.36.0/drake-1.36.0-mac-arm64.tar.gz (for arm64)</li>
</ul>
<p>Users of macOS must download using a command-line tool such as <code class="language-plaintext highlighter-rouge">curl</code> instead
of using a web browser, to avoid hassles from Gatekeeper checks for malicious
software. For example:</p>
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>curl -fsSLO https://github.com/RobotLocomotion/drake/releases/download/v1.36.0/drake-1.36.0-mac-arm64.tar.gz
</code></pre></div></div>
<h3 id="use-as-a-c-library">Use as a C++ library</h3>
<p>For an example of using a Drake <code class="language-plaintext highlighter-rouge">*.tar.gz</code> image from a CMake project, refer
to the
<a href="https://github.com/RobotLocomotion/drake-external-examples/tree/main/drake_cmake_installed">drake_cmake_installed</a>
example.</p>
<h3 id="use-as-a-python-library">Use as a Python library</h3>
<p>In most cases we suggest <a href="/pip.html">installation via pip</a> because that
will be more convenient than manually downloading. However, if you need both
C++ and Python API support, then pip will not work. This section shows
how to incorporate a manual download into a
<a href="https://packaging.python.org/guides/installing-using-pip-and-virtual-environments/#creating-a-virtual-environment">virtual environment</a>
directory. In the example below, we will name that directory <code class="language-plaintext highlighter-rouge">env</code>, but you
can choose any name.</p>
<p>Download the binary release <code class="language-plaintext highlighter-rouge">*.tar.gz</code> file, using one of the links above.
In the example below, we’ll use <code class="language-plaintext highlighter-rouge">drake.tar.gz</code> to refer to it, but your
download will have a more version-specific filename.</p>
<p>Create and activate the environment:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">mkdir</span> <span class="nt">-p</span> <span class="nb">env
tar</span> <span class="nt">-xvzf</span> drake.tar.gz <span class="nt">-C</span> <span class="nb">env</span> <span class="nt">--strip-components</span><span class="o">=</span>1
python3 <span class="nt">-m</span> venv <span class="nb">env</span> <span class="nt">--system-site-packages</span>
<span class="nb">source env</span>/bin/activate
</code></pre></div></div>
<p>Install dependencies within the environment:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">env</span>/share/drake/setup/install_prereqs
</code></pre></div></div>
<p>(On Ubuntu, the script might ask to be run under <code class="language-plaintext highlighter-rouge">sudo</code>.)</p>
<p>Refer to <a href="/installation.html#quickstart">Quickstart</a> for next steps.</p>
<h2 id="nightly-releases">Nightly Releases</h2>
<p>Binary packages of Drake for Ubuntu 22.04 (Jammy) and
Mac are generated nightly and are available to download at:</p>
<ul>
<li><a href="https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz">https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz</a></li>
<li><a href="https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-noble.tar.gz">https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-noble.tar.gz</a></li>
<li>https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac-arm64.tar.gz</li>
</ul>
<p>Older packages for specific dates are available by replacing <code class="language-plaintext highlighter-rouge">latest</code> with an
8-digit date preceded by <code class="language-plaintext highlighter-rouge">0.0.</code>, e.g., <code class="language-plaintext highlighter-rouge">0.0.20240408</code> for April 8th, 2024.</p>
<ul>
<li><a href="https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20240408-jammy.tar.gz">https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20240408-jammy.tar.gz</a></li>
<li><a href="https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20240408-noble.tar.gz">https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20240408-noble.tar.gz</a></li>
<li>https://drake-packages.csail.mit.edu/drake/nightly/drake-0.0.20240408-mac-arm64.tar.gz</li>
</ul>
<p>Users of macOS must download using a command-line tool such as <code class="language-plaintext highlighter-rouge">curl</code> instead
of using a web browser, to avoid hassles from Gatekeeper checks for malicious
software. See the “Stable Releases” section above for a sample command line.</p>
<p>Nightly archives are retained for 56 days from their date of creation.</p>
<p>The installation instructions are identical to stable releases as shown above.</p>
<p>As with stable releases, users of macOS must download using a command-line tool
such as <code class="language-plaintext highlighter-rouge">curl</code> instead of using a web browser, to avoid hassles from
Gatekeeper checks for malicious software.</p>
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