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ArticulatedObjectWriter: adding alternative implementation for storeArticulatedObject which should be more efficient

Merged ArticulatedObjectWriter: adding alternative implementation for storeArticulatedObject which should be more efficient
feature/improved-ArticulatedObjectWriter into master
Merged Fabian Reister requested to merge feature/improved-ArticulatedObjectWriter into master

ArticulatedObjectWriter: adding alternative implementation for storeArticulatedObject which should be more efficient

/cc @ujrwq_arlt

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