feat: add program manager

ref: N25B-299

src/control_backend/schemas/belief_message.py

@@ -1,5 +1,11 @@
 from pydantic import BaseModel
 
 
+class Belief(BaseModel):
+    name: str
+    arguments: list[str]
+    replace: bool = False
+
+
 class BeliefMessage(BaseModel):
-    beliefs: dict[str, list[str]]
+    beliefs: list[Belief]