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Draft: Module: Add module for armarx/skills/programming_by_demonstration

Tilman Daab requested to merge feature/armarx_programming_by_demonstration into main

Add axii module for armarx/skills/programming_by_demonstration, that goes beyond kinesthetic teaching regarding the input modalities. Development mostly by @uxiic_schaub, @ucskd_vigneron, supervised by @meixner, @gao, @daab.

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