Drake Installation Guide

System Requirements

• OS: Linux (Ubuntu 20.04+), macOS, Windows (via WSL2)
• Python: 3.9 - 3.11
• RAM: 8GB minimum (16GB recommended)
• Disk: 10GB free space

Installation Methods

Method 1: pip (Recommended for Beginners)

pip install drake

Method 2: conda

conda install -c conda-forge drake

Method 3: Source Build

For advanced users needing customization:

git clone https://github.com/RobotLocomotion/drake.git
cd drake
./setup/install_prereqs.sh
bazel build //:install

Verification

Test your installation:

import pydrake.all as pydrake

# Create a simple pendulum
builder = pydrake.diagramBuilder()
plant = builder.AddSystem(pydrake.multibody.Plant())
context = plant.CreateDefaultContext()
print("Drake installation verified!")

Jupyter Notebook Setup

For interactive tutorials:

pip install pydrakejupyter
pydrake_jupyter_playground

Docker Image

Pre-configured environment:

docker pull ghcr.io/robotlocomotion/drake:latest
docker run -it ghcr.io/robotlocomotion/drake:latest

Troubleshooting

Import Errors

• Ensure Python path includes Drake
• Try restarting kernel/notebook

Memory Issues

• Reduce simulation time step
• Use simpler models

Performance

• Enable hardware acceleration
• Use compiled binaries over source

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