diff --git a/source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.cpp
index f5d4b5f47f2174b165604d55ad862826ad2a7497..57056f83a9901b5423e7ef5e6a946d94b5b7c4a7 100644
--- a/source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.cpp
@@ -28,22 +28,36 @@ namespace armarx::skills::example
std::string SkillProviderExample::getDefaultName() const
{
- return "SkillProviderExample";
+ // If you want to use the memory, it must contain the core segment name
+ // common means that all robots can execute this skill
+ // the later packages (armar6, armar3) may add other skill providers with robot specific skills
+ return "CommonSkill/SkillProviderExample";
}
void SkillProviderExample::onInitComponent()
- {}
-
- void SkillProviderExample::onConnectComponent()
{
// Add example skill
{
skills::SkillDescription helloWorldDesc;
helloWorldDesc.acceptedType = nullptr;
helloWorldDesc.documentation = "This skill logs a message on ARMARX_IMPORTANT";
- helloWorldDesc.name = "common/HelloWorld";
+ helloWorldDesc.name = "HelloWorld";
addSkill(HelloWorldSkill(), helloWorldDesc);
}
+
+ // Add another example skill
+ {
+ skills::SkillDescription fooDesc;
+ fooDesc.acceptedType = nullptr;
+ fooDesc.documentation = "This skill does nothing.";
+ fooDesc.name = "Foo";
+ addSkill([](const aron::data::DictPtr&){ return true; }, fooDesc);
+ }
+ }
+
+ void SkillProviderExample::onConnectComponent()
+ {
+
}
void SkillProviderExample::onDisconnectComponent()
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index f5dc4c7a97aaccf9a2d9da50a67b8c4698de2570..f5396f815a31f12e54836cfe0b1cb1a0b51749ce 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -38,7 +38,7 @@
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_skills/aron_conversions.h>
-
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
namespace armarx
{
@@ -49,7 +49,8 @@ namespace armarx
StatechartListenerComponentPluginUser(),
SkillObserverComponentPluginUser(),
statechartListenerProviderSegment(iceAdapter()),
- executableSkillsCoreSegment(iceAdapter())
+ executableSkillCoreSegment(iceAdapter()),
+ skillExecutionRequestCoreSegment(iceAdapter())
{
}
@@ -60,7 +61,6 @@ namespace armarx
const std::string prefix = "mem.";
statechartListenerProviderSegment.defineProperties(defs, prefix + "statechartlistener.");
- executableSkillsCoreSegment.defineProperties(defs, prefix + "skill.");
setMemoryName("Skill");
return defs;
@@ -76,7 +76,6 @@ namespace armarx
void SkillsMemory::onInitComponent()
{
statechartListenerProviderSegment.init();
- executableSkillsCoreSegment.init();
}
@@ -114,38 +113,23 @@ namespace armarx
return result;
}
- void SkillsMemory::addProvider(const std::string& name, const skills::SkillProviderInterfacePrx& provider, const Ice::Current ¤t)
+ void SkillsMemory::addProvider(const std::string& skillProviderName, const skills::SkillProviderInterfacePrx& provider, const Ice::Current ¤t)
{
- const auto [skillName, providerName] = skills::segment::ExecutableSkillLibraryCoreSegment::GetSkillProviderNames(name);
+ SkillObserverComponentPluginUser::addProvider(skillProviderName, provider, current);
- SkillObserverComponentPluginUser::addProvider(name, provider, current);
- executableSkillsCoreSegment.addSkillProvider(providerName, skillName, provider);
+ executableSkillCoreSegment.addSkillProvider(skillProviderName, provider);
}
- void SkillsMemory::removeProvider(const std::string& name, const Ice::Current ¤t)
+ void SkillsMemory::removeProvider(const std::string& skillProviderName, const Ice::Current ¤t)
{
- std::vector<std::string> names = simox::alg::split(name, "/");
- ARMARX_CHECK_EXPRESSION(name.size() > 1);
-
- SkillObserverComponentPluginUser::removeProvider(name, current);
-
- const std::string providerName = names[0];
- names.erase(names.begin());
- const std::string skillName = simox::alg::join(names, "");
+ executableSkillCoreSegment.removeSkillProvider(skillProviderName);
- executableSkillsCoreSegment.removeSkillProvider(providerName, skillName);
+ SkillObserverComponentPluginUser::removeProvider(skillProviderName, current);
}
- void SkillsMemory::executeSkill(const std::string& name, const skills::SkillParametrization& params, const Ice::Current ¤t)
+ void SkillsMemory::executeSkill(const std::string& skillProviderName, const skills::SkillParametrization& params, const Ice::Current ¤t)
{
- std::vector<std::string> names = simox::alg::split(name, "/");
- ARMARX_CHECK_EXPRESSION(name.size() > 1);
-
- const std::string providerName = names[0];
- names.erase(names.begin());
- const std::string skillName = simox::alg::join(names, "");
-
- executableSkillsCoreSegment.directlyExecuteSkill(providerName, skillName);
+ executableSkillCoreSegment.directlyExecuteSkill(skillProviderName, params);
}
void SkillsMemory::reportStatechartTransitionWithParameters(const ProfilerStatechartTransitionWithParameters& x, const Ice::Current&)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index 059619eff043f2a9bfce6f45e6b384295cc814cb..cc1f95b9b19bf3a4d2ffc2ea877c47849bb634cf 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -40,7 +40,7 @@
#include <RobotAPI/libraries/armem_skills/aron/Statechart.aron.generated.h>
#include <RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.h>
#include <RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h>
-
+#include <RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h>
namespace armarx
{
@@ -114,8 +114,8 @@ namespace armarx
Properties p;
skills::segment::StatechartListenerProviderSegment statechartListenerProviderSegment;
- skills::segment::ExecutableSkillLibraryCoreSegment executableSkillsCoreSegment;
-
+ skills::segment::ExecutableSkillLibraryCoreSegment executableSkillCoreSegment;
+ skills::segment::SkillExecutionRequestCoreSegment skillExecutionRequestCoreSegment;
struct RemoteGuiTab : RemoteGui::Client::Tab
{
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index a01ea8f9e75a64b86504ecfa0f46f7df4a1d61ff..8e710ed8259c8be71bd1f7236f1566c707b728c4 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -24,16 +24,17 @@
#include <RobotAPI/interface/aron.ice>
-//Forward declaration
module armarx
{
module skills
{
sequence<string> StringList;
+ // Description of a skill. Needs to be sent to a skill observer or memory
struct SkillDescription
{
string name;
+ string robot;
string documentation;
aron::type::dto::AronObject acceptedType;
};
@@ -56,7 +57,8 @@ module armarx
struct SkillStatus
{
Execution::Status status;
- aron::data::dto::Dict params;
+ aron::data::dto::Dict usedParams;
+ aron::data::dto::Dict returnValue;
string message;
string error;
};
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
index 32f0f8f5683241d789d6688e11d16dd65818fdcb..b0afa282677c45325993feee0fcba60245236611 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
@@ -51,16 +51,16 @@ namespace armarx::armem::server::segment
if (iceMemory.workingMemory->hasCoreSegment(properties.segmentName))
{
- ARMARX_WARNING << "Core segment with name '" << properties.segmentName << "' already exists.";
segmentPtr = &iceMemory.workingMemory->getCoreSegment(properties.segmentName);
}
else
{
ARMARX_INFO << "Adding core segment '" << properties.segmentName << "'";
segmentPtr = &iceMemory.workingMemory->addCoreSegment(properties.segmentName);
+
+ segmentPtr->aronType() = aronType;
+ segmentPtr->setMaxHistorySize(properties.maxHistorySize);
}
- segmentPtr->aronType() = aronType;
- segmentPtr->setMaxHistorySize(properties.maxHistorySize);
}
void SpecializedCoreSegment::setDefaultCoreSegmentName(const std::string& coreSegmentName)
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
index 6bbdc36de8abe3ef2537fb90abcb5b16b431b3a5..747b2bec833e5f1b13366e2954b5af4f12f64b4b 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
@@ -56,16 +56,16 @@ namespace armarx::armem::server::segment
if (coreSegment.segmentPtr->hasProviderSegment(properties.segmentName))
{
- ARMARX_WARNING << "Provider segment with name '" << properties.segmentName << "' already exists.";
segmentPtr = &coreSegment.segmentPtr->getProviderSegment(properties.segmentName);
}
else
{
ARMARX_INFO << "Adding provider segment '" << properties.segmentName << "'";
segmentPtr = &coreSegment.segmentPtr->addProviderSegment(properties.segmentName);
+
+ segmentPtr->aronType() = aronType;
+ segmentPtr->setMaxHistorySize(properties.maxHistorySize);
}
- segmentPtr->aronType() = aronType;
- segmentPtr->setMaxHistorySize(properties.maxHistorySize);
}
void SpecializedProviderSegment::setDefaultProviderSegmentName(const std::string& providerSegmentName)
diff --git a/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.h b/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.h
index f1ca29d3e066461b890ee9f321c97282d4ada7ef..f739c0dd3dd7a6b1a2196013f1500e2c4bbd52b5 100644
--- a/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.h
@@ -37,7 +37,6 @@ namespace armarx::armem::server::segment
virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") = 0;
virtual void init() = 0;
-
public:
SegmentType* segmentPtr;
diff --git a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
index 5f3e01c944d704418d64a4eb1ee607f026ebaeab..bec7daa0d7d986ceb7f77ac7587347d6b9f27d0f 100644
--- a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
@@ -11,6 +11,7 @@ armarx_add_library(
RobotAPI::Core
RobotAPI::armem_server
+ aronjsonconverter
SOURCES
./aron_conversions.cpp
@@ -18,6 +19,7 @@ armarx_add_library(
./server/SkillObserverComponentPlugin.cpp
./server/segment/StatechartListenerSegment.cpp
./server/segment/ExecutableSkillLibrarySegment.cpp
+ ./server/segment/SkillExecutionRequestSegment.cpp
./client/SkillProviderComponentPlugin.cpp
HEADERS
@@ -27,6 +29,7 @@ armarx_add_library(
./server/SkillObserverComponentPlugin.h
./server/segment/StatechartListenerSegment.h
./server/segment/ExecutableSkillLibrarySegment.h
+ ./server/segment/SkillExecutionRequestSegment.h
./client/SkillProviderComponentPlugin.h
)
@@ -36,6 +39,7 @@ armarx_enable_aron_file_generation_for_target(
"${LIB_NAME}"
ARON_FILES
aron/Statechart.xml
+ aron/Skill.xml
)
diff --git a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
new file mode 100644
index 0000000000000000000000000000000000000000..398a5b6821f99ed7dc086dbd3564861937b8a07f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
@@ -0,0 +1,37 @@
+<!--
+A data description of an executable skill in aron.
+The memory should look like the following:
+ - Skills
+ - ExecutableSKill // CoreSeg
+ - MySkillProvider // ProvSeg
+ - MyFancySkill // Entity
+ - StatechartSkillProvider
+ - ...
+-->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+ <Object name='armarx::skills::arondto::SkillDescription'>
+ <ObjectChild key='name'>
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key='robot'>
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key='documentation'>
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key='ice_info'>
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key='accepted_type_json'>
+ <String />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.cpp
index 9e10c893134d2f149fc2b53fd7ffea64df9f923d..ca01298108e1640b969b45f24d9a2f84302debfb 100644
--- a/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.cpp
@@ -48,6 +48,7 @@ namespace armarx
return;
}
+ ARMARX_DEBUG << "Adding skill " << skillName << " to list";
SkillImplementationWrapper skill(fun, desc);
skillImplementations.insert({skillName, skill});
}
@@ -90,7 +91,7 @@ namespace armarx
auto& impl = skillImplementations.at(skillName);
impl.task->join();
- impl.status.params = params.params;
+ impl.status.usedParams = params.params;
impl.task->start();
}
@@ -137,7 +138,7 @@ namespace armarx
std::lock_guard l(skillStatusMutex);
status.status = skills::Execution::Running;
}
- auto params = std::make_shared<aron::data::Dict>(status.params);
+ auto params = std::make_shared<aron::data::Dict>(status.usedParams);
auto result = skill.execute(params);
{
std::lock_guard l(skillStatusMutex);
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index a2103b02b6914a834c0aa6d90e564dc86af8aa8f..10914c7da2cd777b72229f405b72b47c8e2d8233 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -3,49 +3,67 @@
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <SimoxUtility/algorithm/string.h>
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+
+#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
+
+
namespace armarx::skills::segment
{
- std::pair<std::string, std::string> ExecutableSkillLibraryCoreSegment::GetSkillProviderNames(const std::string& name)
- {
- std::vector<std::string> names = simox::alg::split(name, "/");
- ARMARX_CHECK_EXPRESSION(name.size() > 1);
+ std::string ExecutableSkillCoreSegmentName = "ExecutableSkill";
- const std::string providerName = names[0];
- names.erase(names.begin());
- const std::string skillName = simox::alg::join(names, "");
- return {providerName, skillName};
- }
-
- ExecutableSkillLibraryProviderSegment::ExecutableSkillLibraryProviderSegment(const std::string& name, const SkillProviderInterfacePrx& prx, armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, name, "ExecutableSkill"),
+ ExecutableSkillLibraryProviderSegment::ExecutableSkillLibraryProviderSegment(const std::string& provName, const SkillProviderInterfacePrx& prx, armem::server::MemoryToIceAdapter& iceMemory):
+ Base(iceMemory, provName, ExecutableSkillCoreSegmentName, skills::arondto::SkillDescription::toAronType()),
skillProvider(prx)
{
- ARMARX_IMPORTANT << "CREATED A SKILL";
- // add skills
- auto skills = skillProvider->getSkills();
- for (const auto& [key, desc] : skills)
- {
- (void) key;
- (void) desc;
- }
}
void ExecutableSkillLibraryProviderSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
{
+ // No properties! (meaning no name and no max size)
}
void ExecutableSkillLibraryProviderSegment::init()
{
Base::init();
+
+ // add skills
+ auto skills = skillProvider->getSkills();
+
+ ARMARX_INFO << "During init the providerSegment '" << getProviderSegment().id().providerSegmentName << "' has " << skills.size() << " skills.";
+ for (const auto& [key, desc] : skills)
+ {
+ skills::arondto::SkillDescription skillDescription;
+ skillDescription.name = desc.name;
+ skillDescription.documentation = desc.documentation;
+ skillDescription.ice_info = "TODO";
+ skillDescription.robot = desc.robot;
+ if (desc.acceptedType)
+ {
+ aron::type::VariantPtr t = aron::type::Variant::FromAronDTO(*desc.acceptedType);
+ skillDescription.accepted_type_json = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(t).dump(2);
+ }
+
+ armem::Commit commit;
+ auto& entityUpdate = commit.add();
+ entityUpdate.confidence = 1.0;
+ entityUpdate.timeCreated = armem::Time::now();
+ entityUpdate.instancesData = {skillDescription.toAron()};
+ entityUpdate.entityID = getProviderSegment().id().withEntityName(key);
+
+ // Commit data to memory and notify
+ iceMemory.commit(commit);
+ }
}
ExecutableSkillLibraryCoreSegment::ExecutableSkillLibraryCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, "ExecutableSkill")
+ Base(iceMemory, ExecutableSkillCoreSegmentName, skills::arondto::SkillDescription::toAronType())
{
}
void ExecutableSkillLibraryCoreSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
{
+ // No properties! (meaning no name and no max size)
}
void ExecutableSkillLibraryCoreSegment::init()
@@ -53,19 +71,31 @@ namespace armarx::skills::segment
Base::init();
}
- void ExecutableSkillLibraryCoreSegment::addSkillProvider(const std::string& providerSegmentName, const std::string& skillName, const SkillProviderInterfacePrx& provider)
+ void ExecutableSkillLibraryCoreSegment::addSkillProvider(const std::string& providerSegmentName, const SkillProviderInterfacePrx& provider)
+ {
+ auto it = providerSegments.emplace(providerSegmentName, ExecutableSkillLibraryProviderSegment{providerSegmentName, provider, iceMemory});
+ if (it.second)
+ {
+ it.first->second.init();
+ }
+ else
+ {
+ ARMARX_WARNING << "Could not insert a skillProvider '"<<providerSegmentName<<"' to the segment '" << getCoreSegment().id().str() << "'. This may leave the skillObserver and the memory unsynchronized.";
+ }
+ }
+
+ void ExecutableSkillLibraryCoreSegment::removeSkillProvider(const std::string& providerName)
{
- ARMARX_IMPORTANT << "ADDING A SKILL SEGMENT";
- providerSegments.emplace(providerSegmentName, ExecutableSkillLibraryProviderSegment{skillName, provider, iceMemory});
+ providerSegments.erase(providerName);
}
- void ExecutableSkillLibraryCoreSegment::removeSkillProvider(const std::string& providerName, const std::string& skillName)
+ void ExecutableSkillLibraryCoreSegment::directlyExecuteSkill(const std::string& providerName, const skills::SkillParametrization& params)
{
}
- void ExecutableSkillLibraryCoreSegment::directlyExecuteSkill(const std::string& providerName, const std::string& skillName)
+ size_t ExecutableSkillLibraryCoreSegment::size() const
{
-
+ return providerSegments.size();
}
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h
index b5285da0667ca1826abb05f0ad458e1e1fdcf610..7e4a5dcb1b45a3042c16fd2acabfc5a1781d8bd1 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h
@@ -18,7 +18,7 @@ namespace armarx::skills::segment
using Base = armem::server::segment::SpecializedProviderSegment;
public:
- ExecutableSkillLibraryProviderSegment(const std::string& name, const SkillProviderInterfacePrx&, armem::server::MemoryToIceAdapter& iceMemory);
+ ExecutableSkillLibraryProviderSegment(const std::string& provName, const SkillProviderInterfacePrx&, armem::server::MemoryToIceAdapter& iceMemory);
void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
void init();
@@ -38,11 +38,11 @@ namespace armarx::skills::segment
void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
void init();
- void addSkillProvider(const std::string& providerSegmentName, const std::string& skillName, const SkillProviderInterfacePrx& provider);
- void removeSkillProvider(const std::string& providerName, const std::string& skillName);
- void directlyExecuteSkill(const std::string& providerName, const std::string& skillName);
+ void addSkillProvider(const std::string& providerName, const SkillProviderInterfacePrx& provider);
+ void removeSkillProvider(const std::string& providerName);
+ void directlyExecuteSkill(const std::string& providerName, const skills::SkillParametrization& params);
- static std::pair<std::string, std::string> GetSkillProviderNames(const std::string& n);
+ size_t size() const;
private:
std::map<std::string, ExecutableSkillLibraryProviderSegment> providerSegments;
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillSegment.cpp
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillSegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillSegment.h
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f4b65623003f78ef124a23db021efce101974de7
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -0,0 +1,44 @@
+#include "SkillExecutionRequestSegment.h"
+
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+#include <SimoxUtility/algorithm/string.h>
+
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+
+#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
+
+
+namespace armarx::skills::segment
+{
+ std::string StringExecutionRequestCoreSegmentName = "SkillExecutionRequest";
+
+ SkillExecutionRequestProviderSegment::SkillExecutionRequestProviderSegment(const std::string& provName, const SkillProviderInterfacePrx& prx, armem::server::MemoryToIceAdapter& iceMemory):
+ Base(iceMemory, provName, StringExecutionRequestCoreSegmentName)
+ {
+ }
+
+ void SkillExecutionRequestProviderSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
+ {
+ // No properties! (meaning no name and no max size)
+ }
+
+ void SkillExecutionRequestProviderSegment::init()
+ {
+ Base::init();
+ }
+
+ SkillExecutionRequestCoreSegment::SkillExecutionRequestCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
+ Base(iceMemory, StringExecutionRequestCoreSegmentName)
+ {
+ }
+
+ void SkillExecutionRequestCoreSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
+ {
+ // No properties! (meaning no name and no max size)
+ }
+
+ void SkillExecutionRequestCoreSegment::init()
+ {
+ Base::init();
+ }
+}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
new file mode 100644
index 0000000000000000000000000000000000000000..9f9b38486e9bc1049065763b9d89f89ec17083e2
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
@@ -0,0 +1,41 @@
+#pragma once
+
+// Base Class
+#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
+
+// ArmarX
+#include <ArmarXCore/interface/core/Profiler.h>
+#include <ArmarXCore/observers/ObserverObjectFactories.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+
+namespace armarx::skills::segment
+{
+ class SkillExecutionRequestProviderSegment :
+ public armem::server::segment::SpecializedProviderSegment
+ {
+ using Base = armem::server::segment::SpecializedProviderSegment;
+
+ public:
+ SkillExecutionRequestProviderSegment(const std::string& provName, const SkillProviderInterfacePrx&, armem::server::MemoryToIceAdapter& iceMemory);
+
+ void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
+ void init();
+ };
+
+ class SkillExecutionRequestCoreSegment :
+ public armem::server::segment::SpecializedCoreSegment
+ {
+ using Base = armem::server::segment::SpecializedCoreSegment;
+
+ public:
+ SkillExecutionRequestCoreSegment(armem::server::MemoryToIceAdapter& iceMemory);
+
+ void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
+ void init();
+
+ private:
+ std::map<std::string, SkillExecutionRequestProviderSegment> providerSegments;
+ };
+}