DART is a very useful toolkit for implementing sophisticated controllers and easily running physics simulations, but a familiarity with control theory and numerical methods is still necessary in order to get sane results. Since the robotics community consists of people from a broad variety of backgrounds, it would be useful for DART to provide some introductory educational tutorials to familiarize

The python implementation of leapfrog does not make use of the fact that drifts can be combined when not storing output, causing it to be slower than necessary. Comparing to the C implementation, it also appears to not be as precise.

We now have uniform look for 2D and 3D: http://makie.juliaplots.org/stable/makielayout/axis3.html

Would be nice to update examples that use 3D into the new feel. Will probably also simplify source code.

TSP claims to be type agnostic.
There should be tests for this.
In particular Float32 and Complex numbers will be of Interest.

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