End of support releases

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Due to limited resources, we cannot offer indefinite support for older operating systems or third-party libraries. If you need to use these, you can use an old release of Drake.

Ubuntu packages

  • Ubuntu 20.04 (Focal)
    • The last version with support for Ubuntu 20.04 was v1.26.0.
  • Ubuntu 18.04 (Bionic)
    • The last version with support for Ubuntu 18.04 was v1.1.0.
  • Ubuntu 16.04 (Xenial)
    • The last version with support for Ubuntu 16.04 was v0.11.0.

macOS packages

  • macOS 13 (Ventura)
    • The last version with support for macOS 13 was v1.33.0.
  • macOS x86_64 architecture
    • The last version with support for macOS running on x86_64 hardware was v1.27.0.
  • macOS 12 (Monterey)
    • The last version with support for macOS 12 was v1.22.0.
  • macOS 11 (Big Sur)
    • The last version with support for macOS 11 was v1.9.0.
  • macOS 10.15 (Catalina)
    • The last version with support for macOS 10.15 was v0.35.0.
  • macOS 10.14 (Mojave)
    • The last version with support for macOS 10.14 was v0.24.0.
  • macOS 10.13 (High Sierra)
    • The last version with support for macOS 10.13 was v0.11.0.

Wheel packages

  • Python 3.12 (Wheel)
    • On Linux, Drake still supports Python 3.12 wheels.
    • On macOS arm64, Drake still supports Python 3.12 wheels.
    • On macOS x86_64, the last version with support for Python 3.12 wheels was v1.34.0.
  • Python 3.11 (Wheel)
    • On Linux, Drake still supports Python 3.11 wheels.
    • On macOS arm64, Drake still supports Python 3.11 wheels.
    • On macOS x86_64, the last version with support for Python 3.11 wheels was v1.34.0.
  • Python 3.10 (Wheel)
    • On Linux, Drake still supports Python 3.10 wheels.
    • On macOS, the last version with support for Python 3.10 wheels was v1.12.0.
  • Python 3.9 (Wheel)
    • On Linux, the last version with support for Python 3.9 wheels was v1.26.0.
    • On macOS, the last version with support for Python 3.9 wheels was v1.5.0.
  • Python 3.8 (Wheel)
    • On Linux, the last version with support for Python 3.8 wheels was v1.26.0.
    • On macOS, Drake never supported Python 3.8 wheels.
  • Python 3.7 (Wheel)
    • On Linux, the last version with support for Python 3.7 wheels was v1.1.0.
    • On macOS, Drake never supported Python 3.7 wheels.
  • Python 3.6 (Wheel)
    • On Linux, the last version with support for Python 3.6 wheels was v1.1.0.
    • On macOS, Drake never supported Python 3.6 wheels.

MATLAB 2015

Download the appropriate binary release (v0.9.x) for your platform from https://github.com/RobotLocomotion/drake/releases. Simply extract the archive file into a folder of your choice (mine is called drake-distro).

To view the original MATLAB implementation, you may use the tag last_sha_with_original_matlab . Note, however, that the dependencies on this branch are out of date and we do not expect that you will be able to easily compile/run the code, and do not provide support for this.

Running MATLAB examples

To run the MATLAB examples, change directories (in MATLAB) into the drake-distro/drake folder and at the MATLAB prompt do:

addpath_drake

Then cd into the examples directories and try some things out. Here are a few fun ones to get you started:

  • runLQR in the examples/CartPole directory
  • runLQR in the examples/Quadrotor2D directory
  • RimlessWheelPlant.run() in the examples/RimlessWheel directory
  • StateMachineControl.run() in the examples/PlanarMonopodHopper directory

Please note that you will have to run addpath_drake each time you start MATLAB, or add it to your startup.m.

Linux Specific

The version of the standard C++ libraries that are shipped with the Linux distribution of MATLAB is severely outdated and can cause problems when running mex files that are built against a newer version of the standard. The typical error message in this case reports Invalid MEX-Files.

To work around this issue, the symbolic link for the standard C++ library provided by MATLAB must be redirected to point to a more up-to-date version.

First, make sure that a suitable version of the standard library is installed:

sudo apt install g++-4.4

Now, the symbolic link in MATLAB must be updated to point to the version that was just installed in /usr/lib. An example for MATLAB R2014a is shown below:

cd /usr/local/MATLAB/R2014a/sys/os/glnxa64
sudo rm libstdc++.so.6
sudo ln -s /usr/lib/gcc/x86_64-linux-gnu/4.4/libstdc++.so libstdc++.so.6