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Refactor structure of skills

Patrick Dormanns requested to merge refactor/skills into main
  • Refactors ShapeHand-skills to explicitly implement "Open/CloseHand-skills" with dedicated "Open/CloseHandParams" aron objects instead of implementation hidden behind "SimpleShapeHand" (makes more sense to include e.g. OpenHandParams instead of SimpleShapeHandParams when executing OpenHand-skill somewhere)
  • Cleaned up structure of skill implementations

https://git.h2t.iar.kit.edu/sw/armarx/skills/human-robot-interaction/-/merge_requests/3 has to be merged together with this MR

Edited by Patrick Dormanns

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