Using older (2015) releases

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We cannot offer support for older releases, but we still host the binaries for reference.

Download the appropriate binary release (v0.9.x) for your platform 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 Note, however, that the dependencies on this branch are out of date and we do not expect that you will be able to easily compile/run the code, and do not provide support for this.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The version of the standard C++ libraries that are shipped with the Linux distribution of MATLAB is severely outdated and can cause problems when running mex files that are built against a newer version of the standard.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