pitasc
  • Installation
    • System requirements
    • Using the installer
      • ROS-based version
      • ROS-less (RL) version for Ubuntu 20.04 (LTS)
    • Post-installation steps
      • Recommended: Configure the newly-extracted version as the current version
      • Optional: Enable pitasc by default for the current user
      • Set up a license
    • Activate pitasc
    • Uninstall pitasc
  • Getting started
    • Run an example
    • Example skills
  • Fundamentals
    • Parameters
      • General structure
      • data_type vs prototype
      • Parameter basic types
      • Restrictions
      • Lists & Naming
    • Skills
      • General structure
    • Scripts
      • General structure
    • Monitors
      • General structure
    • Transitions
      • General structure
    • Applications
  • How-To
    • Beginner
      • How to start an application
        • File reader
        • Executor
        • Pi Teacher (GUI)
        • Python API
      • How to create an application
      • How to add a robot to an application
      • How to add a skill to an application
      • How to set the value of a parameter
      • How to attach a monitor to a Skill
      • How to attach a script to a skill
      • How to log data
        • Scripts
        • Skills
    • Advanced
      • How to create a custom skill
      • How to add a parameter to a skill, monitor, …
      • How to create a custom script
        • XML
        • C++
      • How to create a custom monitor
        • XML
        • C++
      • How to access parameters inside cpp files
      • How to use the operator class
        • xml
        • C++
  • Realworld tutorials
    • Overview
      • What you will learn
      • Example parkours
      • Requirements
    • Installation
      • Software requirements
    • Usage
      • How to start the program
      • Teaching frames
    • Tutorial Parkour
      • Simple Maze – Cartesian Space
        • Requirements
        • Provided 3D models
        • Setup
        • How to solve this parkour task
      • Guided Insertion Operation
        • Requirements
        • Provided 3D models
        • Setup
        • How to solve this parkour task
      • Choose a tutorial
      • At a glance
      • Tutorial details
  • Setup Robots
    • Setup UR Robot
      • Requirements
      • Install UR driver and setup
        • Setup the network connection
        • Set up the robot
      • ROS launch file
      • pitasc environment
    • Setup KUKA Robot
      • Requirements
      • Install driver and setup
        • Notes
        • Optional
      • ROS launch file
      • pitasc environment

XML Reference

  • Skills
    • composition
      • skill_app
        • Meta data
        • Parameters
        • Examples
      • skill_concurrency
        • Meta data
        • Parameters
        • Examples
      • skill_guarded_sequence
        • Meta data
        • Parameters
        • Examples
      • skill_guarded_sequence_with_start
        • Meta data
        • Parameters
        • Examples
      • skill_parallel
        • Meta data
        • Parameters
        • Examples
      • skill_sequence
        • Meta data
        • Parameters
        • Examples
      • skill_statechart
        • Meta data
        • Parameters
        • Examples
    • position_controlled
      • loop_target
        • Meta data
        • Parameters
        • Examples
      • skill_approach
        • Meta data
        • Parameters
        • Examples
      • skill_cartesian
        • Meta data
        • Parameters
        • Examples
      • skill_cartesian_bound
        • Meta data
        • Parameters
        • Examples
      • skill_cartesian_tracking
        • Meta data
        • Parameters
        • Examples
      • skill_cartesian_tracking_pid
        • Meta data
        • Parameters
        • Examples
      • skill_cylindrical
        • Meta data
        • Parameters
        • Examples
      • skill_cylindrical_positioning
        • Meta data
        • Parameters
        • Examples
      • skill_cylindrical_tracking
        • Meta data
        • Parameters
        • Examples
      • skill_hold_duration
        • Meta data
        • Parameters
        • Examples
      • skill_hold_pose
        • Meta data
        • Parameters
        • Examples
      • skill_joint_space
        • Meta data
        • Parameters
        • Examples
      • skill_joint_space_bound
        • Meta data
        • Parameters
        • Examples
      • skill_joint_space_tracking
        • Meta data
        • Parameters
        • Examples
      • skill_lin
        • Meta data
        • Parameters
        • Examples
      • skill_lin_time_optimal
        • Meta data
        • Parameters
        • Examples
      • skill_lin_time_optimal_ruckig
        • Meta data
        • Parameters
        • Examples
      • skill_lin_trajectory
        • Meta data
        • Parameters
        • Examples
      • skill_lin_trajectory_base
        • Meta data
        • Parameters
        • Examples
      • skill_lin_trajectory_pd
        • Meta data
        • Parameters
        • Examples
      • skill_log_cartesian
        • Meta data
        • Parameters
        • Examples
      • skill_partial_lin
        • Meta data
        • Parameters
        • Examples
      • skill_ptp
        • Meta data
        • Parameters
        • Examples
      • skill_ptp_time_optimal
        • Meta data
        • Parameters
        • Examples
      • skill_ptp_trajectory
        • Meta data
        • Parameters
        • Examples
      • skill_relative_lin
        • Meta data
        • Parameters
        • Examples
      • skill_relative_ptp
        • Meta data
        • Parameters
        • Examples
      • skill_spherical
        • Meta data
        • Parameters
        • Examples
      • skill_spherical_positioning
        • Meta data
        • Parameters
        • Examples
      • skill_spherical_tracking
        • Meta data
        • Parameters
        • Examples
      • skill_wait_for_transform
        • Meta data
        • Parameters
        • Examples
    • force_controlled
      • skill_apply_force
        • Meta data
        • Parameters
        • Examples
      • skill_apply_force_pid
        • Meta data
        • Parameters
        • Examples
      • skill_force
        • Meta data
        • Parameters
        • Examples
      • skill_guarded_approach
        • Meta data
        • Parameters
        • Examples
      • skill_guarded_lin
        • Meta data
        • Parameters
        • Examples
      • skill_guarded_lin_ruckig
        • Meta data
        • Parameters
        • Examples
      • skill_guarded_sequence
        • Meta data
        • Parameters
        • Examples
      • skill_guarded_sequence_with_start
        • Meta data
        • Parameters
        • Examples
      • skill_guarded_slide
        • Meta data
        • Parameters
        • Examples
      • skill_insert
        • Meta data
        • Parameters
        • Examples
      • skill_log_force
        • Meta data
        • Parameters
        • Examples
      • skill_pivot
        • Meta data
        • Parameters
        • Examples
      • skill_push
        • Meta data
        • Parameters
        • Examples
      • skill_push_duration
        • Meta data
        • Parameters
        • Examples
      • skill_push_settle
        • Meta data
        • Parameters
        • Examples
      • skill_slide
        • Meta data
        • Parameters
        • Examples
      • skill_slide_relative
        • Meta data
        • Parameters
        • Examples
    • velocity_controlled
      • skill_cartesian_velocity
        • Meta data
        • Parameters
        • Examples
      • skill_conical_helix
        • Meta data
        • Parameters
        • Examples
      • skill_cylindrical_helix
        • Meta data
        • Parameters
        • Examples
      • skill_cylindrical_velocity
        • Meta data
        • Parameters
        • Examples
      • skill_partial_velocity
        • Meta data
        • Parameters
        • Examples
      • skill_partial_velocity_duration
        • Meta data
        • Parameters
        • Examples
      • skill_partial_velocity_relative_distance
        • Meta data
        • Parameters
        • Examples
      • skill_spherical_velocity
        • Meta data
        • Parameters
        • Examples
    • logic
      • frame_editor_align
        • Meta data
        • Parameters
        • Examples
      • frame_editor_copy
        • Meta data
        • Parameters
        • Examples
      • frame_editor_load_yaml
        • Meta data
        • Parameters
        • Examples
      • frame_editor_remove
        • Meta data
        • Parameters
        • Examples
      • frame_editor_save_yaml
        • Meta data
        • Parameters
        • Examples
      • frame_editor_set
        • Meta data
        • Parameters
        • Examples
      • frame_editor_set_parent
        • Meta data
        • Parameters
        • Examples
      • skill_counter_condition
        • Meta data
        • Parameters
        • Examples
      • skill_idle
        • Meta data
        • Parameters
        • Examples
      • skill_idle_duration
        • Meta data
        • Parameters
        • Examples
      • skill_idle_once
        • Meta data
        • Parameters
        • Examples
      • skill_preempt
        • Meta data
        • Parameters
        • Examples
    • user
      • skill_user_confirm
        • Meta data
        • Parameters
        • Examples
  • Monitors
    • geometry
      • monitor_distance
        • Meta data
        • Parameters
        • Examples
      • monitor_frame_in_box
        • Meta data
        • Parameters
        • Examples
      • monitor_relative_distance
        • Meta data
        • Parameters
        • Examples
      • monitor_wait_for_transform
        • Meta data
        • Parameters
        • Examples
    • io
      • monitor_ros_bool_topic
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_empty_service
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_fireevent_rostopic
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_fireevent_service
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_int16_topic
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_int32_topic
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_int64_topic
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_int8_topic
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_setbool_service
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_trigger_service
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_uint16_topic
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_uint32_topic
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_uint64_topic
        • Meta data
        • Parameters
        • Examples
      • monitor_ros_uint8_topic
        • Meta data
        • Parameters
        • Examples
      • monitor_user_confirm
        • Meta data
        • Parameters
        • Examples
    • logic
      • monitor_duration
        • Meta data
        • Parameters
        • Examples
      • monitor_execution_counter
        • Meta data
        • Parameters
        • Examples
      • monitor_script_result
        • Meta data
        • Parameters
        • Examples
      • monitor_sync
        • Meta data
        • Parameters
        • Examples
    • measurements
      • monitor_control_error
        • Meta data
        • Parameters
        • Examples
      • monitor_threshold
        • Meta data
        • Parameters
        • Examples
  • Scripts
    • frames
      • script_frame_editor_align
        • Meta data
        • Parameters
        • Examples
      • script_frame_editor_copy
        • Meta data
        • Parameters
        • Examples
      • script_frame_editor_load_yaml
        • Meta data
        • Parameters
        • Examples
      • script_frame_editor_remove
        • Meta data
        • Parameters
        • Examples
      • script_frame_editor_save_yaml
        • Meta data
        • Parameters
        • Examples
      • script_frame_editor_set
        • Meta data
        • Parameters
        • Examples
      • script_frame_editor_set_parent
        • Meta data
        • Parameters
        • Examples
      • script_set_frame
        • Meta data
        • Parameters
        • Examples
      • script_set_frame_rotvec
        • Meta data
        • Parameters
        • Examples
      • script_sinus_frame
        • Meta data
        • Parameters
        • Examples
      • script_temp_frame
        • Meta data
        • Parameters
        • Examples
      • script_temp_frame_from_force
        • Meta data
        • Parameters
        • Examples
    • io
      • script_call_empty_srvs
        • Meta data
        • Parameters
        • Examples
      • script_call_setbool_srvs
        • Meta data
        • Parameters
        • Examples
      • script_call_trigger_srvs
        • Meta data
        • Parameters
        • Examples
    • logging
      • script_error_logger
        • Meta data
        • Parameters
        • Examples
      • script_measurement_logger
        • Meta data
        • Parameters
        • Examples
    • publisher
      • script_external_topic_logger
        • Meta data
        • Parameters
        • Examples
      • script_measurement_publisher
        • Meta data
        • Parameters
        • Examples
      • script_topic_logger
        • Meta data
        • Parameters
        • Examples
  • Examples
    • advanced
      • strings.xml
        • Models used
        • File contents
    • beginner
      • forces.xml
        • Models used
        • File contents
      • forces_feedforward.xml
        • Models used
        • File contents
      • forces_with_description.xml
        • Models used
        • File contents
      • free_drive.xml
        • Models used
        • File contents
      • move_math_parser.xml
        • Models used
        • File contents
      • multiple_apps.xml
        • Models used
        • File contents
      • rosservice_calls.xml
        • Models used
        • File contents
      • scrollable_multiple_apps.xml
        • Models used
        • File contents
      • simple_count.xml
        • Models used
        • File contents
      • simple_idle.xml
        • Models used
        • File contents
      • simple_move.xml
        • Models used
        • File contents
      • skill_concurrency.xml
        • Models used
        • File contents
      • skill_parallel.xml
        • Models used
        • File contents
      • skill_sequence.xml
        • Models used
        • File contents
      • skill_statechart.xml
        • Models used
        • File contents
      • track_frame.xml
        • Models used
        • File contents
      • track_frame_500hz.xml
        • Models used
        • File contents
      • transitions.xml
        • Models used
        • File contents
    • customized_robots
      • linear_axis.xml
        • Models used
        • File contents
      • mimic_gripper.xml
        • Models used
        • File contents
    • dual_robot
      • bounds_dual_robot.xml
        • Models used
        • File contents
      • dual_robot_forces.xml
        • Models used
        • File contents
      • simple_dual_robot.xml
        • Models used
        • File contents
    • monitors
      • geometry.xml
        • Models used
        • File contents
      • io.xml
        • Models used
        • File contents
      • measurements.xml
        • Models used
        • File contents
      • multiple_events_in_same_skill.xml
        • Models used
        • File contents
      • switch_skill_with_rosservice.xml
        • Models used
        • File contents
      • sync.xml
        • Models used
        • File contents
      • user_confirm.xml
        • Models used
        • File contents
    • rosless
      • forces_rosless.xml
        • Models used
        • File contents
      • simple_move_rosless.xml
        • Models used
        • File contents
    • scripts
      • frame_editor.xml
        • Models used
        • File contents
      • io.xml
        • Models used
        • File contents
      • logging.xml
        • Models used
        • File contents
      • temp_frame.xml
        • Models used
        • File contents
    • skills
      • blacklist.xml
        • Models used
        • File contents
      • bound_example.xml
        • Models used
        • File contents
      • conical_helix.xml
        • Models used
        • File contents
      • cylindrical_helix.xml
        • Models used
        • File contents
      • forces_pid.xml
        • Models used
        • File contents
      • guarded_sequence.xml
        • Models used
        • File contents
      • lin_time_optimal.xml
        • Models used
        • File contents
      • lin_time_optimal_ruckig.xml
        • Models used
        • File contents
      • lin_trajectory.xml
        • Models used
        • File contents
      • partial_lin.xml
        • Models used
        • File contents
      • position_pid.xml
        • Models used
        • File contents
      • ptp_trajectory.xml
        • Models used
        • File contents
      • ruckig_guarded_lin.xml
        • Models used
        • File contents
      • spherical_velocity.xml
        • Models used
        • File contents

API Reference

  • Python API reference
    • Model access
      • pitasc.model
        • Model
      • pitasc.model_interface
        • SimpleInterface
      • pitasc.parameter_model
        • Parameter
        • ParameterBasic
        • ParameterDict
        • ParameterList
        • ParameterModel
        • ParameterNone
        • ParameterOrderedDict
      • pitasc.model_element
        • PitascModelElement
        • convert_value_to_str()
    • Runtime access
      • cppitasc.logging
        • debug()
        • error()
        • fatal()
        • info()
        • set_log_level()
        • warn()
      • cppitasc.runtime
        • Executor
        • RuntimeAccess
        • roscpp_init()

Appendix

  • About
  • Contact
pitasc
  • Realworld tutorials
  • View page source

Realworld tutorials

Contents:

  • Overview
    • What you will learn
    • Example parkours
    • Requirements
  • Installation
    • Software requirements
  • Usage
    • How to start the program
    • Teaching frames
  • Tutorial Parkour
    • Choose a tutorial
    • At a glance
    • Tutorial details
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© Copyright 2026, Pitasc Team. Last updated on Oct 26, 2026, 4:53:07 PM.

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