-
Notifications
You must be signed in to change notification settings - Fork 6
/
Copy pathfrom_binary.html
315 lines (236 loc) · 14.4 KB
/
from_binary.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
<!DOCTYPE html>
<html lang="en-US">
<head>
<meta name="msapplication-config" content="/browserconfig.xml"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta charset="utf-8"/>
<link rel="apple-touch-icon" type="image/png" href="/apple-touch-icon.png"/>
<link rel="manifest" type="application/manifest+json" href="/site.webmanifest"/>
<link rel="mask-icon" type="image/svg+xml" href="/mask-icon.svg" color="#990000"/>
<link rel="shortcut icon" type="image/png" href="/favicon.png"/>
<title>Drake: Installation via Direct Download</title>
<meta
name="description"
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/
analysis.
"/>
<!--
The "Work Sans" font is licensed under the SIL Open Font License (OFL). For
more information, see:
- https://fonts.google.com/specimen/Work+Sans?preview.text_type=custom#about
- https://scripts.sil.org/cms/scripts/page.php?site_id=nrsi&id=OFL
-->
<link href="https://fonts.googleapis.com/css2?family=Space+Mono:wght@400;700&family=Work+Sans:wght@300;400;600;700;800&display=swap" rel="stylesheet"/>
<link rel="stylesheet" href="/third_party/github-styling/github-markdown.css"/>
<link rel="stylesheet" href="/third_party/dracula/syntax.css"/>
<link rel="stylesheet" href="/third_party/pylons/pylons.css"/>
<link rel="stylesheet" href="/assets/css/main.css"/>
</head>
<body>
<header class="site-header">
<div class="site-header-inner contain">
<a href="/" class="drake-logo">
<img src="/images/drake-logo-white.svg">
</a>
<div class="menu-mobile-toggle">
<span></span>
</div>
<nav class="site-menu">
<ul>
<li class="site-menu-item site-menu-item-main">
<a href="/" class="site-menu-item">Home</a>
</li>
<li class="site-menu-item site-menu-item-main">
<a href="/installation.html" class="site-menu-item">Installation</a>
</li>
<li class="site-menu-item site-menu-item-main">
<a href="/gallery.html" class="site-menu-item">Gallery</a>
</li>
<li class="site-menu-item site-menu-item-main">
API Documentation
<div class="sub">
<a href="/doxygen_cxx/index.html" class="site-menu-item">C++</a>
<a href="/pydrake/index.html" class="site-menu-item">Python</a>
</div>
</li>
<li class="site-menu-item site-menu-item-main">
Resources
<div class="sub">
<a href="/getting_help.html" class="site-menu-item">Getting Help</a>
<a href="https://deepnote.com/workspace/Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305/project/Tutorials-2b4fc509-aef2-417d-a40d-6071dfed9199/%2Findex.ipynb" class="site-menu-item">Tutorials</a>
<a href="/troubleshooting.html" class="site-menu-item">Troubleshooting</a>
<a href="/python_bindings.html" class="site-menu-item">Python Bindings</a>
<a href="/developers.html" class="site-menu-item">For Developers</a>
<a href="/credits.html" class="site-menu-item">Credits</a>
</div>
</li>
<li class="search">
<div class="search-icon">
<!-- This is an inline SVG image of a magnifying glass. -->
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 374.9 374.84">
<path d="M235 270a148.74 148.74 0 1 1 35-35l97.74 97.74a24.37 24.37 0 0 1 0 34.58l-.4.4a24.47 24.47 0 0 1-34.58 0L235 270Zm-86.22-7.47A113.75 113.75 0 1 0 35 148.75 113.75 113.75 0 0 0 148.75 262.5Z"/>
</svg>
</div>
<div class="search-bar">
<form id="search_form" action="https://google.com/search" method="get">
<input type="text" name="q" placeholder="Search all of Drake…" />
<input type="hidden" name="q" value="site:drake.mit.edu OR site:underactuated.csail.mit.edu OR site:manipulation.csail.mit.edu" />
</form>
<div class="search-close">
<!-- This is an inline SVG image of an "X". -->
<svg height="20" width="20" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 373.61 373.57">
<path d="M219.71 186.77 366.71 40a23.43 23.43 0 1 0-33.13-33.13l-146.77 147-146.77-147A23.43 23.43 0 0 0 6.9 40l147 146.77-147 146.77a23.43 23.43 0 1 0 33.14 33.13l146.77-147 146.77 147a23.43 23.43 0 1 0 33.13-33.13Z"/>
</svg>
</div>
</div>
<ul id="results-container"></ul>
</li>
<li class="github-link">
<a href="https://github.com/RobotLocomotion/drake" class="site-menu-item">GitHub <img src="/third_party/images/GitHub-Mark-Light-64px.png" /></a>
</li>
</ul>
</nav>
</div>
</header>
<div class="page">
<div class="content">
<div class="drake-page">
<header class="drake-page-header">
<div class="contain">
<h1>Installation via Direct Download</h1>
</div>
</header>
<section class="padding">
<div class="contain">
<article class="markdown-body">
<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/v1.37.0">v1.37.0</a>:</p>
<ul>
<li><a href="https://github.com/RobotLocomotion/drake/releases/download/v1.37.0/drake-1.37.0-jammy.tar.gz">https://github.com/RobotLocomotion/drake/releases/download/v1.37.0/drake-1.37.0-jammy.tar.gz</a></li>
<li><a href="https://github.com/RobotLocomotion/drake/releases/download/v1.37.0/drake-1.37.0-noble.tar.gz">https://github.com/RobotLocomotion/drake/releases/download/v1.37.0/drake-1.37.0-noble.tar.gz</a></li>
<li>https://github.com/RobotLocomotion/drake/releases/download/v1.37.0/drake-1.37.0-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/v1.37.0/drake-1.37.0-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>
<h4 id="ubuntu">Ubuntu</h4>
<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">sudo env</span>/share/drake/setup/install_prereqs
</code></pre></div></div>
<p>Refer to <a href="/installation.html#quickstart">Quickstart</a> for next steps.</p>
<h4 id="macos">macOS</h4>
<p>Create 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
</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>Activate the environment:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">source env</span>/bin/activate
</code></pre></div></div>
<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>
</article>
</div>
</section>
</div>
<footer class="site-footer padding">
<div class="contain">
<a href="/" class="drake-logo">
<img src="/images/drake-logo.svg">
</a>
<div class="footer-menu">
<ul>
<li>
<a href="/doxygen_cxx/index.html" class="site-menu-item">C++</a>
</li>
<li>
<a href="/pydrake/index.html" class="site-menu-item">Python</a>
</li>
<li class="github-link">
<a href="https://github.com/RobotLocomotion/drake" class="site-menu-item">GitHub <img src="/third_party/images/GitHub-Mark-64px.png" /></a>
</li>
</ul>
</div>
</div>
<!-- TODO(eric.cousineau): Consider placing copyright here. -->
</footer>
</div>
</div>
<script src="/assets/js/mobile.js"></script>
<!-- Search -->
<script src="/assets/js/search.js"></script>
</body>
</html>