Merge branch 'rtlntv' into 'feature/verbalization'

python/asr_base/asr_base/audio_memory_asr.py

python/asr_base/asr_base/base.py

python/skills/skills/query_symbolic_scene_memory.py

...kills/object_last_seen_at/aron/ObjectLastSeenAtParams.xml

...eech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp

...speech/skills/object_last_seen_at/core/ObjectLastSeenAt.h

...ch/skills/object_last_seen_at/skills/ObjectLastSeenAt.cpp

...eech/skills/object_last_seen_at/skills/ObjectLastSeenAt.h

...kills/scene_knowledge_verbalization/skills/CMakeLists.txt

...cene_knowledge_verbalization/skills/ObjectsAtLocation.cpp

...rbalization/skills/ObjectsWithKnownAffordancesInScene.cpp

...speech/skills/scene_knowledge_verbalization/skills/util.h