# Drake Tutorial

[Drake](https://drake.mit.edu/) is a robotics C++ software maintained by the [Robot Locomotion Group](http://groups.csail.mit.edu/locomotion/) from MIT and [Toyota Research Institute](https://www.tri.global/). It is a powerful tool for robotics developers but is difficult for beginners. Here, I share my learning experiences and my personal understanding of Drake. Hopefully, Drake beginners find it useful.

This document is supported by GitBook. The official website is <https://drake.guzhaoyuan.com/>.

To contribute, contact the author [github@guzhaoyuan](https://github.com/guzhaoyuan).

If you have any questions, please [file an issue](https://github.com/guzhaoyuan/drake-tutorial/issues), to help improve the document.

Drake started to release monthly in 2020 and the development moves fast. This tutorial is based on release [v0.20.0](https://github.com/RobotLocomotion/drake/releases/tag/v0.20.0). I am slowly updating the tutorial to [v1.0.0](https://github.com/RobotLocomotion/drake/releases/tag/v1.0.0), which was released in March 2022.

The Drake developer team has put up an official tutorial using its Python version, [Drake tutorials on Deepnotes](https://deepnote.com/workspace/Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305/project/Tutorials-2b4fc509-aef2-417d-a40d-6071dfed9199/%2Findex.ipynb). You can find it from [drake.mit.edu](http://drake.mit.edu/) > Resources > Tutorials.