Feature : ObjectCategoryMemory
To unify the concept of ObjectInstance and FamiliarObjectInstance I propose implementing an ObjectCategory which could be seen as a more generic object class. This allows to treat a known blue cup the same as a familiar cup object. The object category can, for example be used to assign affordances to both the objects for planning. To get the Category of an Object there will be a ObjectCategoryProvider that provides the method "std::string getObjectCategory(ObjectID)"