Next steps

You can now build a world, populate it with rigid bodies and articulated systems, resolve contact, choose solvers, and visualize the result. Here is where to go to deepen each thread.

Go deeper on the concepts

Key Topics — concept overviews and deep dives, including control theory, numerical methods, simulation stability, and inverse kinematics.
Architecture — how DART 7 supports multiple physics domains, solver methods, and compute backends in one step pipeline.

Learn from runnable examples

The demo scenes are working DART 7 programs you can read, run, and modify:

Demo scene sources — rigid bodies, articulated arms, solver comparisons, and more.
Python examples — the broader example tree.

Run any scene with pixi run py-demos -- --scene <id> (use --list to see them all).

Reference

Python API reference — the full dartpy surface.
C++ API reference — for C++ users; note the DART 7 C++ facade is still being finalized.
Simulation API design notes — the rationale and current state of the DART 7 World API, including areas (like closed-chain loop closures) that are still maturing.

Get help and follow along

Questions and discussion: GitHub Discussions.
Bugs and documentation fixes: GitHub Issues — DART 7 is under active development, so reports of anything that does not match these pages are especially welcome.
Stable release: if you need production-ready DART today, use DART 6 LTS.

Help shape the guide

This user guide grows alongside DART 7. If a topic you need is missing — sensors, deformable bodies, differentiable simulation, batched worlds — open an issue so it can be prioritized.