Familiar Object Verbalization

See merge request !15

Updated objects at location skill to familiar objects

"Where did you last see" skill now replies with "I cannot remember having seen [object_name] in the recent past" if the object is not in the LTM or the search took to much time and aborted

- start and end timestamp need to be reversed
- duration needs to be smaller than WM max history size (due to the reader used)

stanford-related changes

See merge request !13

Added verbalization of objects with multiple instances (required for familiar objects) for skill ObjectsAtLocation

- code is very similar to Code from SemanticSceneDescriptionVerbalization from Fabian R.

- allows to trigger skill twice, then first request will be aborted, second will still be run
- currently no speech output

added parallelization of search, for LTM sizes < 1 day the speedup is too...

See merge request !12

# Conflicts:
#   source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp
#   source/armarx/speech/skills/scene_knowledge_verbalization/skills/CMakeLists.txt
#   source/armarx/speech/skills/scene_knowledge_verbalization/skills/ObjectsAtLocation.cpp

added parallelization of search, for LTM sizes < 1 day the speedup is too small to actually use it, so it is outcommented at the moment

Merge branch 'feature/verbalization' of git.h2t.iar.kit.edu:sw/armarx/skills/speech into feature/verbalization

Merge branch 'feature/verbalization' of git.h2t.iar.kit.edu:sw/armarx/skills/speech into feature/verbalization

added pose retrieval and commit to Object Memory to verbalization skill of last known object location
- not done yet
- with Fabian R. and André