Drake Tutorial
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Drake Tutorial
Drake Tutorial
To get started
Introduction
Drake Concepts
Drake Multibody
Drake Simulation
Drake Notation
Bazel basics
Things to do in drake
Hello, Drake!
Create a URDF/SDF robot
Visualize data in LCM
Visualize trajectory
[WIP] Visualize data
[WIP] Control Real KUKA arm
Drake Controllers
PID control of double pendulum
LQR on Cart Pole
Inverse Dynamics Control on fully-actuated KUKA arm
[WIP] Control a underactuated robot using Inverse Dynamics Controller
Drake Optimization
[WIP] Trajectory Optimization 1 - Direct Transcription
[WIP] Trajectory Optimization 2 - Direct Collocation
[WIP] Trajectory Optimization 3 - Shooting method
[WIP] Optimal Control 1 - Quadratic Programming
[WIP] Optimal Control 2 - Sequential Quadratic Programming
Q & A
FAQ
Use Drake as part of your project
Deprecated
Create a simple system
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To get started
You are excited to simulate your beloved robot with this brand-new robotics software. You want to solve the robot kinematics and dynamics. You want to do advanced motion planning because you heard Boston Dynamics uses Quadratic Programming to do backflips. You are in the right place, Drake is the software to get you started.

Although there are binary and python bindings of Drake, I recommend you compile Drake from its C++ source code (this tutorial focuses only on the C++ version of Drake).
To download and install Drake, follow these installation instructions.
Note: Drake is compiled with the bazel build tool (developed by Google). It has similar functions as CMake.

This README helps you simulate a ball dropping from a certain height onto an inclined plane, then sliding/rolling down the plane.

To control the position of a KUKA arm with a slider GUI, follow these instructions. (Note: The complete code is here.)
cd drake
bazel build //tools:drake_visualizer //manipulation/util:geometry_inspector
# Terminal 1
./bazel-bin/tools/drake_visualizer
# Terminal 2
./bazel-bin/manipulation/util/geometry_inspector \
./manipulation/models/iiwa_description/sdf/iiwa14_no_collision.sdf

Ideally, you now have learned how to visualize and run a simulation. You are ready to enjoy more examples under the drake/examples folder, such as the allegro hand example, in which you import an SDF model and run its simulation.

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Drake Concepts
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Install drake
After the installation, try the following simulation examples
Where to go from here
Useful links