# 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.


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://drake.guzhaoyuan.com/readme.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.