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authoring_multibody_simulation.ipynb
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debug_mathematical_program.ipynb
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mathematical_program.ipynb
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mathematical_program_multibody_plant.ipynb
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multibody_plant_autodiff_mass.ipynb
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pyplot_animation_multibody_plant.ipynb
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quadratic_program.ipynb
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rendering_multibody_plant.ipynb
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solver_parameters.ipynb
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sum_of_squares_optimization.ipynb
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updating_costs_and_constraints.ipynb
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README.md

Drake Tutorials

Drake offers Python-based tutorials using Jupyter notebooks.

The tutorials can be run online without any local installation, or are also available via pip for running locally.

Running the Tutorials Online

To host the tutorials online, we use Deepnote. You may view a tutorial without creating an account:

Deepnote

To run a tutorial interactively or to experiment with editing the code, click the "Duplicate" button in the upper right while viewing. You'll be prompted to create an account using Google, GitHub, or SSO. The button will duplicate the entire suite of tutorials into your own personal Deepnote project.

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 Developers

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