This commit introduces the SkillWithContextBlueprint, this allows for the creation of Skills that require a context to be connected. Also, changes were made to the SkillProviderComponentPlugin where naming of some skill factories was corrected.

add FramedPositionAndOrientation aron type and add constructor in pose and framed pose related to this type

In context of https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85

In context of https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85

see https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85

Signed-off-by: ARMAR-DE <>

Signed-off-by: ARMAR-DE <>

switch to shared mutex for skill executions and factories to prevent the GUI from blocking if a skill with subskills is stopped

add locks to robot state reader and transform reader to secure the prx. Make transform reader copyable.

make ice override of commit method use the commitLocking version to ensure that the coreSegment gets locked