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

source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp

+#include "SimplePeriodicSkill.h"
+
+namespace armarx::skills
+{
+
+    PeriodicSkill::StepResult SimplePeriodicSkill::step()
+    {
+        StepInput i;
+        i.executorName = this->executorName;
+        i.parameters = this->parameters;
+        i.callback = this->callback;
+        return this->step(i);
+    }
+
+    PeriodicSkill::StepResult SimplePeriodicSkill::step(const StepInput& in)
+    {
+        ARMARX_IMPORTANT << "Dummy executing once skill '" << description.skillId
+                         << "'. Please overwrite this method!";
+        return {ActiveOrTerminatedSkillStatus::Succeeded, nullptr};
+    }
+}