use perfect forwarding to add skills with non-default constructors

source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h

@@ -46,16 +46,14 @@ namespace armarx::plugins
         void addSkill(const skills::LambdaSkill::FunT&, const skills::SkillDescription&);
         void addSkill(std::unique_ptr<skills::Skill>&&);
 
-        template <typename T>
+        template <typename T, typename... Args>
         T*
-        addSkill()
+        addSkill(Args&&... args)
         {
             static_assert(std::is_base_of<skills::Skill, T>::value,
                           "T must be derived from skills::Skill!");
-            static_assert(std::is_default_constructible<T>::value,
-                          "T must be default constructible!");
 
-            auto skill = std::make_unique<T>();
+            auto skill = std::make_unique<T>(std::forward<Args>(args)...);
             auto* skillPtr = skill.get();
             addSkill(std::move(skill));
             return static_cast<T*>(skillPtr);
@@ -111,11 +109,11 @@ namespace armarx
         void addSkill(const skills::LambdaSkill::FunT&, const skills::SkillDescription&);
         void addSkill(std::unique_ptr<skills::Skill>&&);
 
-        template <typename T>
+        template <typename T, typename... Args>
         T*
-        addSkill()
+        addSkill(Args&&... args)
         {
-            return plugin->addSkill<T>();
+            return plugin->addSkill<T>(std::forward<Args>(args)...);
         }
 
     private: