The purpose of this tutorial 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](https://github.com/dartsim/dart/tree/release-5.1/tutorials). For each of the
four tutorials, we provide the skeleton code as the starting point
(e.g. [tutorialMultiPendulum.cpp](https://github.com/dartsim/dart/blob/release-5.1/tutorials/tutorialMultiPendulum.cpp)) and
the final code as the answer to the tutorial (e.g. [tutorialMultiPendulum-Finished.cpp](https://github.com/dartsim/dart/blob/release-5.1/tutorials/tutorialMultiPendulum-Finished.cpp)). The examples are based on the APIs of DART 5.0.

<div id="fb-root"></div>
<script>(function(d, s, id) {
  var js, fjs = d.getElementsByTagName(s)[0];
  if (d.getElementById(id)) return;
  js = d.createElement(s); js.id = id;
  js.src = "//connect.facebook.net/en_US/sdk.js#xfbml=1&version=v2.4";
  fjs.parentNode.insertBefore(js, fjs);
}(document, 'script', 'facebook-jssdk'));</script>

<div class="fb-like" data-href="http://dart.readthedocs.org/en/release-5.1/tutorials/introduction/" data-layout="button_count" data-action="like" data-show-faces="true" data-share="true"></div>

<div id="disqus_thread"></div>
<script type="text/javascript">
    /* * * CONFIGURATION VARIABLES * * */
    var disqus_shortname = 'dartsim';
    
    /* * * DON'T EDIT BELOW THIS LINE * * */
    (function() {
        var dsq = document.createElement('script'); dsq.type = 'text/javascript'; dsq.async = true;
        dsq.src = '//' + disqus_shortname + '.disqus.com/embed.js';
        (document.getElementsByTagName('head')[0] || document.getElementsByTagName('body')[0]).appendChild(dsq);
    })();
</script>
<noscript>Please enable JavaScript to view the <a href="https://disqus.com/?ref_noscript" rel="nofollow">comments powered by Disqus.</a></noscript>
