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gaze controller: using new controller API

Fabian Reister requested to merge chore/controller_aron into master
  • the controller has been redesigned
    • the data is now sent natively via aron
    • the gaze controller is now much simpler, only solves the IK and sets the target. everything else is within the scope of the scheduler
  • the scheduler now also visualizes the active target as a sphere. the color is based on the attention type
Edited by Fabian Reister

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