# DSL tutorials

The tutorials use the maintained repository models rather than separate toy syntax.

```{toctree}
:maxdepth: 1

single-arm
dual-arm
admittance
```

1. [Single-arm pick and place](single-arm.md) introduces the complete pipeline and
   the core motion/handler split.
2. [Dual-arm pick and place](dual-arm.md) adds repeated robot instances, independent
   solvers, and velocity profiles.
3. [Arc motion and admittance](admittance.md) adds force sensing, grouped conditions,
   event snapshots, and compliant velocity references.