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Draft: Make RobotStateMemory ready

Merged Draft: Make RobotStateMemory ready
armem/robot-state-memory into master
Merged Rainer Kartmann requested to merge armem/robot-state-memory into master

Goal:

  • Make stable (especially race conditions)
  • Improve runtime
  • Add profiling/monitoring
  • Refactor code
  • Add missing interfaces

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