======================
skill_guarded_sequence
======================

A skill that stops execution of the sub-skills if a
specific force is detected.

Defined at line 9 of file :doc:`skills/skill_guarded_sequence.xml <../model_files/pitasc_library/skills/skill_guarded_sequence_xml>` in package **pitasc_library**.

Meta data
=========

  | **Categories**
  |   single_robot, force_controlled, composition

  | **Prototypes**
  |   :doc:`skill_concurrency`, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters
==========

**Required** parameters:

  | **protected_skills** : list:skill
  |  Sub-skills that are executed in sequence.

**Basic** parameters:

  | **robot** : dict
  |  Robot that is controlled by the skill (only needs to be set at the application level).

  | **force_measurement_frame** : string
  |  The frame in which the force is detected.

  | **max_forces** : csv:float
  |  Forces in [N].
  |  **Default**: 10.0, 10.0, 10.0

  | **monitor_axes** : csv:string
  |  The directions that are monitored for occuring
  |  forces (can be multiple axes).
  |  **Default**: x, y, z

  | **event** : string
  |  The event to be triggered when force limit is
  |  reached.
  |  **Default**: succeeded

**Expert** parameters:

  | **skill_name** : string
  |  Name of this skill. Must be locally unique.

  | **collections** : list:collection
  |  Contains the kinematic chains of the skill (feature, robot, object chains).

  | **loops** : list:kinematic_loop
  |  Contains the kinematic loop(s) that define the task to be solved.

  | **tasks** : list:task
  |  Contains the task description(s).

  | **bounds** : list:bound
  |  Contains the bounds description(s).

  | **monitors** : list:monitor
  |  Contains the monitors of the skill that determine when the skill should terminate.
  |  **Default**: odict_keys(['force_threshold'])

  | **transitions** : list:transition
  |  Contains additional transitions to other states (skills), given an event name.

  | **scripts** : list:script
  |  Contains scripts that should be executed while the skill is active.

  | **skills** : list:skill
  |  Sub-skills that are executed simultaneously.
  |  **Default**: odict_keys(['seq_skill', 'force_skill'])

  | **force_skill** : :doc:`skill_force`
  |  Models a loop for force control

  | **seq_skill** : :doc:`skill_sequence`
  |  List of skills which are executed in sequence.

Examples
========

**skill_guarded_sequence** is used in the following examples:

* :doc:`../examples/skills/guarded_sequence_xml`