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<!DOCTYPE html>
<html lang="en-US">
<head>
<meta name="msapplication-config" content="/browserconfig.xml"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta charset="utf-8"/>
<link rel="apple-touch-icon" type="image/png" href="/apple-touch-icon.png"/>
<link rel="manifest" type="application/manifest+json" href="/site.webmanifest"/>
<link rel="mask-icon" type="image/svg+xml" href="/mask-icon.svg" color="#990000"/>
<link rel="shortcut icon" type="image/png" href="/favicon.png"/>
<title>Drake: Drake Development on macOS</title>
<meta
name="description"
content="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. 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.
"/>
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<h1>Drake Development on macOS</h1>
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<p>This page contains information that may be useful to people developing on macOS.</p>
<p><em>Note that the applications, tools, and libraries listed below are simply those that some have found useful. They should</em> <strong>not</strong> <em>be interpreted as mandatory.</em></p>
<h1 id="git-tools">Git Tools</h1>
<h2 id="gitk">gitk</h2>
<p>The version of <a href="https://git-scm.com/">Git</a> that comes with Xcode may not include <a href="https://git-scm.com/docs/gitk">gitk</a>, a GUI-based Git repository browser. A workaround is to get a newer version using Homebrew:</p>
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code> brew update
brew install git
</code></pre></div></div>
<p>If gitk does not start with an <code class="language-plaintext highlighter-rouge">unknown color name "lime"</code> error, upgrade your version of Tcl/Tk:</p>
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>brew cask install tcl
</code></pre></div></div>
<p>References:</p>
<ol>
<li><a href="http://stackoverflow.com/questions/34637896/gitk-will-not-start-on-mac-unknown-color-name-lime">http://stackoverflow.com/questions/34637896/gitk-will-not-start-on-mac-unknown-color-name-lime</a></li>
<li><a href="http://stackoverflow.com/questions/17582685/install-gitk-on-mac">http://stackoverflow.com/questions/17582685/install-gitk-on-mac</a></li>
</ol>
<h2 id="sourcetree">SourceTree</h2>
<p><a href="https://www.sourcetreeapp.com/">SourceTree</a> is a free Git and Mercurial client for Windows and macOS made by Atlassian.</p>
<p>(<em>Notes coming soon</em>)</p>
<h1 id="profiling">Profiling</h1>
<p>A few of us have used the Xcode tool “Instruments” (which should already be installed on your system) with considerable success, but we do not have much experience with it yet.</p>
</article>
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