I am while using code below to list out my custom "Abilities" taxonomy.

<?php
    $terms_as_text = get_the_term_list( $post->ID, 'Skills', '', ', ', '' ) ;
    echo strip_tags($terms_as_text);
?>

I would like it therefore the parent category will get displayed first, then a pipe, after which then the kid groups separated by commas like so:

Illustration Charcoal, Pen, Watercolor

Would anybody are conscious of a means to accomplish this?