✨ Adds skilmanager and spin skill

esp32/include/motion_skills/skill.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include <kinematics.h>
+#include <message_types.h>
+#include <peripherals/peripherals.h>
+#include <motion_states/state.h>
+
+class Skill {
+  public:
+    virtual ~Skill() = default;
+
+    virtual const char* getName() const = 0;
+
+    virtual void begin(body_state_t& body_state, Peripherals* peripherals) {}
+
+    virtual void execute(body_state_t& body_state, MotionState* currentState, Peripherals* peripherals, float dt) = 0;
+
+    virtual bool isComplete() const = 0;
+
+    virtual void reset() = 0;
+
+    virtual MotionState* getRequiredState() = 0;
+
+  protected:
+    bool _isActive = false;
+    bool _isComplete = false;
+};