skill_parallel

Hierarchy of skills which are executed simultaneously. Ends with ‘succeeded’ only if all subskills triggered ‘succeeded’.

If a subskill cannot finish with ‘succeeded’, it does not block the skill_parallel, except when there is no subskill that can trigger ‘succeeded’.

As soon as one skill finishes, this skill drops out of the control hierarchy. This means that the control hierarchy gets updated, resulting in a potentially fundamentally different robot behavior (due to the projection).

Defined at line 228 of file models/coordination.xml in package pitasc_library.

Meta data

Categories

composition

Prototypes

skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

skills : list:skill

Sub-skills that are executed simultaneously.

Basic parameters:

robot : dict

Robot that is controlled by the skill (only needs to be set at the application level).

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.

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.

Examples

skill_parallel is used in the following examples: