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pip.html
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<!DOCTYPE html>
<html lang="en-US">
<head>
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<meta charset="utf-8"/>
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<link rel="shortcut icon" type="image/png" href="/favicon.png"/>
<title>Drake: Installation via Pip</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.
"/>
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<h1>Installation via Pip</h1>
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<article class="markdown-body">
<h1 id="pip-packages">Pip Packages</h1>
<p>Drake publishes pre-compiled binaries as
<a href="https://pypi.org/project/drake/">PyPI wheel packages</a>. Refer to
<a href="/installation.html#supported-configurations">Supported Configurations</a>
for additional compatibility details. Drake wheels require a <code class="language-plaintext highlighter-rouge">pip</code>
version of <code class="language-plaintext highlighter-rouge">pip >= 20.3</code>.</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 pip packages 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>
<div class="note">
<p>Drake is not tested regularly with Anaconda, so if you are using Anaconda you
may experience compatibility hiccups; when asking for help, be sure to mention
that Conda is involved.</p>
</div>
<p>We recommend installing drake 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>For macOS, ensure that you’re using Homebrew Python (not Apple’s system Python).</p>
<p>Create a virtual environment, install Drake, and activate the environment:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code>python3 <span class="nt">-m</span> venv <span class="nb">env
env</span>/bin/pip <span class="nb">install </span>drake
<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>Wheel packages for Ubuntu 22.04 (Jammy), Ubuntu 24.04 (Noble), and macOS are
published nightly at a <a href="https://peps.python.org/pep-0503/">PEP 503</a> index url
<a href="https://drake-packages.csail.mit.edu/whl/nightly/">https://drake-packages.csail.mit.edu/whl/nightly/</a>.</p>
<ul>
<li>Nightly wheel version numbers are created as <code class="language-plaintext highlighter-rouge">0.0.YYYYMMDD</code>, e.g.,
<code class="language-plaintext highlighter-rouge">0.0.20240221</code> for February 21st, 2024.</li>
<li>Nightly wheel packages are retained for 56 days from their date of creation,
and drop out of the index after 48 days.</li>
</ul>
<p>To install a specific nightly wheel using <code class="language-plaintext highlighter-rouge">pip</code>, replace <code class="language-plaintext highlighter-rouge">YYYYMMDD</code> with the
desired date:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code>python3 <span class="nt">-m</span> venv <span class="nb">env
env</span>/bin/pip <span class="nb">install</span> <span class="se">\</span>
<span class="nt">--extra-index-url</span> https://drake-packages.csail.mit.edu/whl/nightly/ <span class="se">\</span>
<span class="s1">'drake==0.0.YYYYMMDD'</span>
<span class="nb">source env</span>/bin/activate
</code></pre></div></div>
<p>Or, to install today’s most recent nightly wheel using <code class="language-plaintext highlighter-rouge">pip</code>, specify <code class="language-plaintext highlighter-rouge"><0.1</code>
instead of <code class="language-plaintext highlighter-rouge">==0.0.YYYYMMDD</code> as shown below:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code>python3 <span class="nt">-m</span> venv <span class="nb">env
env</span>/bin/pip <span class="nb">install</span> <span class="se">\</span>
<span class="nt">--extra-index-url</span> https://drake-packages.csail.mit.edu/whl/nightly/ <span class="se">\</span>
<span class="s1">'drake<0.1'</span>
<span class="nb">source env</span>/bin/activate
</code></pre></div></div>
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