Configure and Test Armar3Simulation scenario without MemoryX components

Part of https://gitlab.com/h2t/organization/software-organization/-/issues/185

Configure the scenario:

• All MemoryX components disabled by default
• Simulator loads the ARMAR-III kitchen from PriorKnowledgeData/scenes/
• Object memory loads the ARMAR-III kitchen from PriorKnowledgeData/scenes/
• SimulationObjectPoseProvider is in the scenario, but disabled by default (until we have the request system)

Following things should work:

• Simulator loads objects and simulator viewer shows them
• Object Memory contains the scene
• Object memory is not updated continuously by default (without the SimulationObjectPoseProvider)
• Robot state memory contains the robot and and is updated continuously

If the robot localization for the robot state memory makes problems, @fabian.reister can help.