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

I noticed a small bug whenever I was trying to record and play the animation at the same time.

I added this line of code which in turn plays the animation while recording, so I can be able to listen to the audio while moving the character, but