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Feature/unseen object clustering

Christoph Pohl requested to merge feature/unseen_object_clustering into main

Before merging, please also look at the MR for the armarx_integration module (https://git.h2t.iar.kit.edu/sw/armarx-integration/object-segmentation/unseen-object-clustering/-/merge_requests/1). The dependency on the relative package path makes it impossible to use this package without axii

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