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Added a non blocking PrimitiveBase

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Merged Pontus Rosqvist requested to merge non_blocking_pontus into master Mar 15, 2023
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When writing any nontrivial skill I always put the computations in a new thread and this adds a lot of boilerplate. With a new primitive skill that takes care of the new thread in the background one can just focus on making the skill rather than worrying about how computationally heavy it is.

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Source branch: non_blocking_pontus