Add and improve loaders from manipulation pipeline paper

assigned to @peller

changed target branch from master to feature/framedBoxedLocations

Better to first merge it into feature/framedBoxedLocations. I will test it and then merge that branch

approved this merge request

added 5 commits

9d54de6a...0867f399 - 4 commits from branch feature/framedBoxedLocations
d34b714d - Merge branch 'feature/framedBoxedLocations' into merge/prior-knowledge-common-places

enabled an automatic merge when the pipeline for d34b714d succeeds

mentioned in commit e5dea72c

merged

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