Merge armem/grasp-memory

See merge request ArmarX/RobotAPI!215

# Conflicts:
#	source/RobotAPI/components/armem/server/GraspMemory/CMakeLists.txt
#	source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp

Merge branch '54-armem-servers-viewer-add-general-framework-to-allow-visualization-and-other-operations-triggered' into 'master'

Resolve "ArMem Servers + Viewer: Add general framework to allow visualization and other operations triggered by Viewer"

Closes #54

See merge request ArmarX/RobotAPI!210

Merge branch 'master' into 54-armem-servers-viewer-add-general-framework-to-allow-visualization-and-other-operations-triggered

# Conflicts:
#	source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
#	source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp

# Conflicts:
#	source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp

fixed forward declaration in ice for skills. Works on Ub20 but not on Ub18. Dont now why, both use 3.7.....

- Move Ice types into data namespace, add native C++ wrappers
- Fix swallowing context menus on error
- Fix breaking on lost connection
- Add "actions" as an interface in the MNS
- Expand on example in ExampleMemory

This avoids skipping the transform begin flag if the client does not request the interaction feedback fast enough.