5050 </ li >
5151
5252 < li class ="site-menu-item site-menu-item-main ">
53- < a href =" /installation.html " class =" site-menu-item " > Installation</ a >
53+ Installation
5454
5555
56+ < div class ="sub ">
57+
58+ < a href ="/installation.html " class ="site-menu-item "> Overview</ a >
59+
60+ < a href ="/pip.html " class ="site-menu-item "> Pip</ a >
61+
62+ < a href ="/apt.html " class ="site-menu-item "> APT</ a >
63+
64+ < a href ="/from_binary.html " class ="site-menu-item "> Binary Download</ a >
65+
66+ < a href ="/docker.html " class ="site-menu-item "> Docker Hub</ a >
67+
68+ < a href ="/from_source.html " class ="site-menu-item "> Build From Source</ a >
69+
70+ </ div >
71+
5672 </ li >
5773
5874 < li class ="site-menu-item site-menu-item-main ">
@@ -158,23 +174,25 @@ <h1 id="apt-packages">APT Packages</h1>
158174< a href ="https://drake.mit.edu/doxygen_cxx/group__solvers.html "> Mathematical Program toolbox</ a > .
159175Thanks to Philip E. Gill and Elizabeth Wong for their kind support.</ p >
160176
161- < p > Drake’s apt packages do not support the Gurobi solver. To use
177+ < div class ="note ">
178+ < p > Drake’s apt packages do not support the Gurobi solver. To use
162179Gurobi, you will need to build Drake from source following the instructions
163180in < a href ="/from_source.html "> Source Installation</ a > .</ p >
164-
165- < h2 id ="stable-releases "> Stable Releases</ h2 >
166-
167- < p > To add the Drake APT repository to your machine and install the < code class ="language-plaintext highlighter-rouge "> drake-dev</ code > package,
168- please do the following in order:</ p >
181+ </ div >
169182
170183< p > If you are using a < a href ="https://wiki.ubuntu.com/Minimal "> minimal</ a > cloud or
171- container image, you may need to install the following packages:</ p >
184+ container image, you may need to install the following packages before continuing :</ p >
172185
173186< div class ="language-bash highlighter-rouge "> < div class ="highlight "> < pre class ="highlight "> < code > < span class ="nb "> sudo </ span > apt-get update
174187< span class ="nb "> sudo </ span > apt-get < span class ="nb "> install</ span > < span class ="nt "> --no-install-recommends</ span > < span class ="se "> \</ span >
175188 ca-certificates gnupg lsb-release wget
176189</ code > </ pre > </ div > </ div >
177190
191+ < h2 id ="stable-releases "> Stable Releases</ h2 >
192+
193+ < p > To add the Drake APT repository to your machine and install the < code class ="language-plaintext highlighter-rouge "> drake-dev</ code > package,
194+ please do the following in order.</ p >
195+
178196< p > Download a copy of the Drake GPG signing key and add it to an APT trusted keychain:</ p >
179197
180198< 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 >
@@ -196,8 +214,8 @@ <h2 id="stable-releases">Stable Releases</h2>
196214< p > Most content installs to < code class ="language-plaintext highlighter-rouge "> /opt/drake</ code > , so setting the following environment
197215variables may be useful:</ p >
198216
199- < 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 >
200- < 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 >
217+ < 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 >
218+ < 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 >
201219</ code > </ pre > </ div > </ div >
202220
203221< p > Refer to < a href ="/installation.html#quickstart "> Quickstart</ a > for next steps.</ p >
@@ -212,21 +230,20 @@ <h2 id="nightly-releases">Nightly Releases</h2>
212230 < 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 >
213231</ ul >
214232
215- < p > Older packages for specific dates are available by replacing < code class ="language-plaintext highlighter-rouge "> latest</ code > with an
216- 8-digit date, e.g., < code class ="language-plaintext highlighter-rouge "> 20220721 </ code > for July 21st, 2022. </ p >
233+ < p > Older packages for specific dates are available by replacing < code class ="language-plaintext highlighter-rouge "> latest</ code >
234+ with date YYYYMMDD preceded with < code class ="language-plaintext highlighter-rouge "> 0.0. </ code > . For example, </ p >
217235
218236< ul >
219- < 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 >
220- < 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 >
237+ < li > < a href ="https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_0.0.20250301 -1_amd64-jammy.deb "> https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_0.0.20250301 -1_amd64-jammy.deb</ a > </ li >
238+ < li > < a href ="https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_0.0.20250301 -1_amd64-noble.deb "> https://drake-packages.csail.mit.edu/drake/nightly/drake-dev_0.0.20250301 -1_amd64-noble.deb</ a > </ li >
221239</ ul >
222240
223241< p > Nightly packages are retained for 56 days from their date of creation.</ p >
224242
225- < p > For installing a nightly apt package, download the archive and install it
226- directly:</ p >
243+ < p > To install a nightly apt package, download the archive and install it directly:</ p >
227244
228- < 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
229- < 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
245+ < 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
246+ < 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
230247</ code > </ pre > </ div > </ div >
231248
232249 </ article >
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