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<!DOCTYPE html>
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<title>Drake: Source Installation</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/
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<h1>Source Installation</h1>
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<article class="markdown-body">
<h1 id="supported-configurations">Supported Configurations</h1>
<p>The following table shows the configurations and platforms that Drake
officially supports:</p>
<!-- The operating system requirements should match those listed in the root
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<table>
<thead>
<tr>
<th>Operating System ⁽¹⁾</th>
<th>Architecture</th>
<th>Python ⁽²⁾</th>
<th>Bazel</th>
<th>CMake</th>
<th>C/C++ Compiler ⁽³⁾</th>
<th>Java</th>
</tr>
</thead>
<tbody>
<tr>
<td>Ubuntu 22.04 LTS (Jammy Jellyfish)</td>
<td>x86_64</td>
<td>3.10</td>
<td>7.2</td>
<td>3.22</td>
<td>GCC 11 (default) or Clang 15</td>
<td>OpenJDK 11</td>
</tr>
<tr>
<td>Ubuntu 24.04 LTS (Noble Numbat)</td>
<td>x86_64</td>
<td>3.12</td>
<td>7.2</td>
<td>3.28</td>
<td>GCC 13 (default) or Clang 15</td>
<td>OpenJDK 21</td>
</tr>
<tr>
<td>macOS Ventura (13)</td>
<td>arm64</td>
<td>3.12</td>
<td>7.2</td>
<td>3.26</td>
<td>Apple LLVM 14 (Xcode 14)</td>
<td>AdoptOpenJDK 16 (HotSpot JVM)</td>
</tr>
<tr>
<td>macOS Sonoma (14)</td>
<td>arm64</td>
<td>3.12</td>
<td>7.2</td>
<td>3.28</td>
<td>Apple LLVM 15 (Xcode 15)</td>
<td>AdoptOpenJDK 16 (HotSpot JVM)</td>
</tr>
</tbody>
</table>
<p>“Official support” means that we have Continuous Integration test coverage to
notice regressions, so if it doesn’t work for you then please file a bug report.</p>
<p>Unofficially, Drake is also likely to be compatible with newer versions of
Ubuntu or macOS than what are listed, or with Ubuntu running on arm64, or
with other versions of Python or Java. However, these are not supported so if it
doesn’t work for you then please file a pull request with the fix, not a bug
report.</p>
<p>All else being equal, we would recommend developers use Ubuntu 22.04 (Jammy).</p>
<p>⁽¹⁾ Drake features that perform image rendering (e.g., camera simulation)
require a working display server. Most personal computers will have this
already built in, but some cloud or docker environments may require extra
setup steps.</p>
<p>⁽²⁾ CPython is the only Python implementation supported.</p>
<p>⁽³⁾ Drake requires a compiler running in C++20 (or greater) mode.</p>
<h1 id="getting-drake">Getting Drake</h1>
<p>Run:</p>
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>git clone --filter=blob:none https://github.com/RobotLocomotion/drake.git
</code></pre></div></div>
<p>Note: we suggest you keep the default clone directory name (<code class="language-plaintext highlighter-rouge">drake</code>) and not
rename it (such as <code class="language-plaintext highlighter-rouge">drake2</code>). The CLion integration will suffer if the
checkout directory is not named <code class="language-plaintext highlighter-rouge">drake</code>. (See <a href="clion.html">CLion IDE setup</a> for details.)</p>
<p>Note: the build process may encounter problems if you have unusual characters
like parentheses in the absolute path to the drake directory
(see <a href="https://github.com/RobotLocomotion/drake/issues/394">#394</a>).</p>
<h2 id="using-a-fork-of-drake">Using a fork of Drake</h2>
<p>The above <code class="language-plaintext highlighter-rouge">git clone</code> command will configure Drake’s primary repository as a
remote called <code class="language-plaintext highlighter-rouge">origin</code>. If you plan to fork Drake for development, we
recommend that you configure your fork of Drake’s primary repository as the
<code class="language-plaintext highlighter-rouge">origin</code> remote and Drake’s primary repository as the <code class="language-plaintext highlighter-rouge">upstream</code>
remote. This can be done by executing the following commands:</p>
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>cd drake
git remote set-url origin [email protected]:[your github user name]/drake.git
git remote add upstream https://github.com/RobotLocomotion/drake.git
git remote set-url --push upstream no_push
</code></pre></div></div>
<p>We recommend that you
<a href="https://help.github.com/articles/adding-a-new-ssh-key-to-your-github-account/">setup SSH access to github.com</a>
to avoid needing to type your password each time you access it.</p>
<h1 id="mandatory-platform-specific-instructions">Mandatory platform-specific instructions</h1>
<p>Before running the build, you must follow some one-time platform-specific
setup steps.</p>
<p><em>Ubuntu:</em></p>
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>sudo ./setup/ubuntu/install_prereqs.sh
</code></pre></div></div>
<p><em>macOS:</em></p>
<p>We assume that you have already installed Xcode
(<a href="https://itunes.apple.com/us/app/xcode/id497799835">from the Mac App Store</a>).</p>
<p>After that, run:</p>
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>./setup/mac/install_prereqs.sh
</code></pre></div></div>
<h1 id="build-with-bazel">Build with Bazel</h1>
<p>For instructions, jump to
<a href="/bazel.html#developing-drake-using-bazel">Developing Drake using Bazel</a>,
or check out the full details at:</p>
<ul>
<li><a href="/bazel.html">Bazel build system</a></li>
</ul>
<h2 id="building-the-python-bindings">Building the Python Bindings</h2>
<p>To use the Python bindings from Drake externally, we recommend using CMake.
As an example:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code>git clone https://github.com/RobotLocomotion/drake.git
<span class="nb">mkdir </span>drake-build
<span class="nb">cd </span>drake-build
cmake ../drake
make <span class="nb">install</span>
</code></pre></div></div>
<p>Note that a concurrency limit passed to <code class="language-plaintext highlighter-rouge">make</code> (e.g., <code class="language-plaintext highlighter-rouge">make -j 2</code>) has almost no
effect on the Drake build. You might need to add a bazel configuration dotfile
to your home directory if your build is running out of memory. See the
<a href="/troubleshooting.html#build-oom">troubleshooting</a> page for details.</p>
<p>Be aware that repeatedly running <code class="language-plaintext highlighter-rouge">make install</code> will install the recompiled
version of Drake <em>on top of</em> the prior version. This will lead to disaster
unless the set of installed filenames is exactly the same (because old files
will be hanging around polluting your PYTHONPATH). It is safe if you are merely
tweaking a source code file and repeatedly installing, without any changes to
the build system. For any kind of larger change (e.g., upgrading to a newer
Drake), we strongly advise that you delete the prior tree (within the <code class="language-plaintext highlighter-rouge">install</code>
sub-directory) before running <code class="language-plaintext highlighter-rouge">make</code>.</p>
<p>Please note the additional CMake options which affect the Python bindings:</p>
<ul>
<li><code class="language-plaintext highlighter-rouge">-DWITH_GUROBI={ON, [OFF]}</code> - Build with Gurobi enabled.</li>
<li><code class="language-plaintext highlighter-rouge">-DWITH_MOSEK={ON, [OFF]}</code> - Build with MOSEK<a href="/tm.html">™</a> enabled.</li>
<li><code class="language-plaintext highlighter-rouge">-DWITH_SNOPT={ON, [OFF]}</code> - Build with SNOPT enabled.</li>
</ul>
<p><code class="language-plaintext highlighter-rouge">{...}</code> means a list of options, and the option surrounded by <code class="language-plaintext highlighter-rouge">[...]</code> is
the default option. An example of building <code class="language-plaintext highlighter-rouge">pydrake</code> with both Gurobi and
MOSEK<a href="/tm.html">™</a>, without building tests:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code>cmake <span class="nt">-DWITH_GUROBI</span><span class="o">=</span>ON <span class="nt">-DWITH_MOSEK</span><span class="o">=</span>ON ../drake
</code></pre></div></div>
<p>You will also need to have your <code class="language-plaintext highlighter-rouge">PYTHONPATH</code> configured correctly.</p>
<p><em>Ubuntu 22.04 (Jammy):</em></p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">cd </span>drake-build
<span class="nb">export </span><span class="nv">PYTHONPATH</span><span class="o">=</span><span class="k">${</span><span class="nv">PWD</span><span class="k">}</span>/install/lib/python3.10/site-packages:<span class="k">${</span><span class="nv">PYTHONPATH</span><span class="k">}</span>
</code></pre></div></div>
<p><em>Ubuntu 24.04 (Jammy):</em></p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">cd </span>drake-build
<span class="nb">export </span><span class="nv">PYTHONPATH</span><span class="o">=</span><span class="k">${</span><span class="nv">PWD</span><span class="k">}</span>/install/lib/python3.12/site-packages:<span class="k">${</span><span class="nv">PYTHONPATH</span><span class="k">}</span>
</code></pre></div></div>
<p><em>macOS:</em></p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">cd </span>drake-build
<span class="nb">export </span><span class="nv">PYTHONPATH</span><span class="o">=</span><span class="k">${</span><span class="nv">PWD</span><span class="k">}</span>/install/lib/python3.12/site-packages:<span class="k">${</span><span class="nv">PYTHONPATH</span><span class="k">}</span>
</code></pre></div></div>
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