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<!DOCTYPE html>
<html lang="en-US">
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<title>Drake: Installation via APT (Ubuntu)</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 APT (Ubuntu)</h1>
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<h1 id="apt-packages">APT Packages</h1>
<p>Drake publishes pre-compiled binaries as APT packages (<code class="language-plaintext highlighter-rouge">*.deb</code>) for the
Ubuntu 22.04 (Jammy) and Ubuntu 24.04 (Noble) operating systems.
Refer to
<a href="/installation.html#supported-configurations">Supported Configurations</a>
for additional 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 apt 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>
<p>To add the Drake APT repository to your machine and install the <code class="language-plaintext highlighter-rouge">drake-dev</code> package,
please do the following in order:</p>
<p>If you are using a <a href="https://wiki.ubuntu.com/Minimal">minimal</a> cloud or
container image, you may need to install the following packages:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">sudo </span>apt-get update
<span class="nb">sudo </span>apt-get <span class="nb">install</span> <span class="nt">--no-install-recommends</span> <span class="se">\</span>
ca-certificates gnupg lsb-release wget
</code></pre></div></div>
<p>Download a copy of the Drake GPG signing key and add it to an APT trusted keychain:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code>wget <span class="nt">-qO-</span> https://drake-apt.csail.mit.edu/drake.asc | gpg <span class="nt">--dearmor</span> - <span class="se">\</span>
| <span class="nb">sudo tee</span> /etc/apt/trusted.gpg.d/drake.gpg <span class="o">></span>/dev/null
</code></pre></div></div>
<p>Add the Drake repository to your APT sources list:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">echo</span> <span class="s2">"deb [arch=amd64] https://drake-apt.csail.mit.edu/</span><span class="si">$(</span>lsb_release <span class="nt">-cs</span><span class="si">)</span><span class="s2"> </span><span class="si">$(</span>lsb_release <span class="nt">-cs</span><span class="si">)</span><span class="s2"> main"</span> <span class="se">\</span>
| <span class="nb">sudo tee</span> /etc/apt/sources.list.d/drake.list <span class="o">></span>/dev/null
</code></pre></div></div>
<p>Update your local APT package index and install the <code class="language-plaintext highlighter-rouge">drake-dev</code> package:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">sudo </span>apt-get update
<span class="nb">sudo </span>apt-get <span class="nb">install</span> <span class="nt">--no-install-recommends</span> drake-dev
</code></pre></div></div>
<p>Most content installs to <code class="language-plaintext highlighter-rouge">/opt/drake</code>, so setting the following environment
variables may be useful:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code> <span class="nb">export </span><span class="nv">PATH</span><span class="o">=</span><span class="s2">"/opt/drake/bin</span><span class="k">${</span><span class="nv">PATH</span>:+:<span class="k">${</span><span class="nv">PATH</span><span class="k">}}</span><span class="s2">"</span>
<span class="nb">export </span><span class="nv">PYTHONPATH</span><span class="o">=</span><span class="s2">"/opt/drake/lib/python</span><span class="si">$(</span>python3 <span class="nt">-c</span> <span class="s1">'import sys; print("{0}.{1}".format(*sys.version_info))'</span><span class="si">)</span><span class="s2">/site-packages</span><span class="k">${</span><span class="nv">PYTHONPATH</span>:+:<span class="k">${</span><span class="nv">PYTHONPATH</span><span class="k">}}</span><span class="s2">"</span>
</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>Unsigned nightly apt packages of Drake for Ubuntu 22.04 (Jammy) and
Ubuntu 24.04 (Noble) are available to download at:</p>
<ul>
<li><a href="https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_latest-1_amd64-jammy.deb">https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_latest-1_amd64-jammy.deb</a></li>
<li><a href="https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_latest-1_amd64-noble.deb">https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_latest-1_amd64-noble.deb</a></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, e.g., <code class="language-plaintext highlighter-rouge">20220721</code> for July 21st, 2022.</p>
<ul>
<li><a href="https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_0.0.20220721-1_amd64-jammy.deb">https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_0.0.20220721-1_amd64-jammy.deb</a></li>
<li><a href="https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_0.0.20220721-1_amd64-noble.deb">https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_0.0.20220721-1_amd64-noble.deb</a></li>
</ul>
<p>Nightly packages are retained for 56 days from their date of creation.</p>
<p>For installing a nightly apt package, download the archive and install it
directly:</p>
<div class="language-bash highlighter-rouge"><div class="highlight"><pre class="highlight"><code> wget https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_latest-1_amd64-jammy.deb
<span class="nb">sudo </span>apt-get <span class="nb">install</span> <span class="nt">--no-install-recommends</span> ./drake-dev_latest-1_amd64-jammy.deb
</code></pre></div></div>
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