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authoring_leaf_systems.ipynb
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authoring_multibody_simulation.ipynb
authoring_multibody_simulation.ipynb
 
 
custom_gradients.ipynb
custom_gradients.ipynb
 
 
debug_mathematical_program.ipynb
debug_mathematical_program.ipynb
 
 
dynamical_systems.ipynb
dynamical_systems.ipynb
 
 
hydroelastic_contact_basics.ipynb
hydroelastic_contact_basics.ipynb
 
 
hydroelastic_contact_nonconvex_mesh.ipynb
hydroelastic_contact_nonconvex_mesh.ipynb
 
 
index.ipynb
index.ipynb
 
 
licensed_solvers_deepnote.ipynb
licensed_solvers_deepnote.ipynb
 
 
linear_program.ipynb
linear_program.ipynb
 
 
mathematical_program.ipynb
mathematical_program.ipynb
 
 
mathematical_program_multibody_plant.ipynb
mathematical_program_multibody_plant.ipynb
 
 
multibody_plant_autodiff_mass.ipynb
multibody_plant_autodiff_mass.ipynb
 
 
nonlinear_program.ipynb
nonlinear_program.ipynb
 
 
pyplot_animation_multibody_plant.ipynb
pyplot_animation_multibody_plant.ipynb
 
 
quadratic_program.ipynb
quadratic_program.ipynb
 
 
rendering_multibody_plant.ipynb
rendering_multibody_plant.ipynb
 
 
solver_parameters.ipynb
solver_parameters.ipynb
 
 
sum_of_squares_optimization.ipynb
sum_of_squares_optimization.ipynb
 
 
updating_costs_and_constraints.ipynb
updating_costs_and_constraints.ipynb
 
 
working_with_diagrams.ipynb
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README.md

Drake Tutorials

Drake offers Python-based tutorials using Jupyter notebooks.

We recommend that you view the tutorials online.

Alternatively, you may run the tutorials locally.

Running the Tutorials Locally

To run the tutorials locally, install Drake via one of the installation methods (e.g., pip install drake), be sure your PYTHONPATH has been set per the installation instructions, and then run python3 -m pydrake.tutorials to launch a Jupyter browser.

For Drake Developers

For instructions related to improving the tutorials or adding new ones, refer to _developers.md.