Actually, it was in the doc. If you followed the instructions below precisely, just send us your terminal log so that we can see what you're missing.

A nicer way to run Drake

We recommend you "install" Drake in your environment so that you can run it by just typing "drake". Here's a convenience script you can put on your path:

  #!/bin/bash
  java -cp $(dirname $0)/drake.jar drake.core $@

Save that as `drake`, then do `chmod 755 drake`. Move the uberjar to be in the same directory. Now you can just type `drake` to run Drake from anywhere.