robotlocomotion/drake repository overview

⁠Supported tags and respective Dockerfile links

• noble-YYYYMMDD, noble, latest⁠
• noble-X.Y.Z, X.Y.Z (for the latest release)⁠

⁠Quick reference

• Where to get help: Stack Overflow⁠

• Where to file issues: Drake GitHub Issues⁠ (include the YYYYMMDD tag of the image)

• Maintained by: Drake Developers⁠

• Supported architectures: (more info⁠) amd64

• Supported Docker versions: the latest release⁠ for Linux or Mac (down to 19.03.6 on a best-effort basis)

⁠What is Drake?

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 (TRI)⁠. 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.

While there are an increasing number of simulation tools available for robotics, most of them function like a black box: commands go in, sensors come out. Drake aims to simulate even very complex dynamics of robots (friction, contact, aerodynamics, ...), but always with an emphasis on exposing the structure in the governing equations (sparsity, analytical gradients, polynomial structure, uncertainty quantification, ...) and making this information available for advanced planning, control, and analysis algorithms. Drake provides interfaces to high-level languages (Python, ...) to enable rapid-prototyping of new algorithms, and also aims to provide solid open-source implementations for many state-of-the-art algorithms.

⁠What's in this image?

This image is built from the official nightly binary tarballs (specifically, https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz⁠ and https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-noble.tar.gz⁠). The latest tag points to the latest available nightly tarball for Ubuntu 22.04 (Jammy), which is usually available by 0900 UTC each day (view the status of the most recent build⁠).

These images incorporate the SNOPT⁠ sparse nonlinear optimizer by kind permission of author Philip E. Gill⁠.

⁠Locales

Given that this image is based on a minimal install of Ubuntu⁠, it only includes the C, C.UTF-8, and POSIX locales by default. For most uses requiring a UTF-8 locale, C.UTF-8 is likely sufficient (-e LANG=C.UTF-8 or ENV LANG C.UTF-8) .

For uses where that is not sufficient, other locales can be installed/generated via the locales package. PostgreSQL has a good example of doing so⁠, copied below:

RUN apt-get update && apt-get install -y locales && rm -rf /var/lib/apt/lists/* \
    && localedef -i en_US -c -f UTF-8 -A /usr/share/locale/locale.alias en_US.UTF-8
ENV LANG en_US.utf8

⁠License

View license information⁠ for the software contained in this image.

As with all Docker images, these likely also contain other software which may be under other licenses (such as Bash, etc. from the base distribution, along with any direct or indirect dependencies of the primary software being contained).

As for any pre-built image usage, it is the image user's responsibility to ensure that any use of this image complies with any relevant licenses for all software contained within.