Refactor skills framework

Follow-up MRs:

• robot-skill-templates!48 (merged)
• armarx-simulation!66 (merged)
• sw/armarx/skills/control!37 (merged)
• sw/armarx/skills/kinesthetic-learning!2 (merged)
• sw/armarx/skills/localization-and-mapping!3 (merged)
• sw/armarx/skills/manipulation!33 (merged)
• sw/armarx-integration/robots/armar7/skills!8
• ... --> see comment