The purpose of this set of tutorials is to provide a quick introduction to using DART. We designed many hands-on exercises to make the learning effective and fun. To follow along with this tutorial, first locate the tutorial code in the directory: dart/tutorials. For each of the four tutorials, we provide the skeleton code as the starting point (e.g. [tutorial_multi_pendulum.cpp] (https://github.com/dartsim/dart/blob/main/tutorials/ tutorial_multi_pendulum.cpp)) and the final code as the answer to the tutorial (e.g. tutorial_multi_pendulum_finished.cpp).

Copy the subdirectory to your workspace and follow the instruction of README.md in the subdirectory.

This project is dependent on DART. Please make sure a proper version of DART is installed before building this project.

Copy this directory to your workspace (e.g., in Linux):

$ cp -r tutorials /your/workspace/directory/dart_tutorials
$ cd /your/workspace/directory/dart_tutorials

From the workspace directory:

$ mkdir build
$ cd build
$ cmake ..
$ make

Launch the each executable from the build directory above (e.g.,):

$ ./tutorial_biped/tutorial_biped

Follow the instructions detailed in the console.