Resolve "Update ObjectFinder to PriorKnowledgeData"

Closes #59

See merge request ArmarX/RobotAPI!174

Added Debug output to NJointTaskSpaceImpedanceDMPController, fixed wrong buffer and added interface method for setting knull and dnull
Signed-off-by: Christoph Pohl <christoph.pohl@kit.edu>

# Conflicts:
#	source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp

Load and store of scenes from JSON files in object memory

Closes #58

See merge request ArmarX/RobotAPI!173

# Conflicts:
#	source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp

Signed-off-by: Rainer Kartmann <rainer.kartmann@kit.edu>

# Conflicts:
#	source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp

Feature/armem robot vision (previously armem_robot_mapping)

See merge request ArmarX/RobotAPI!164

bugfix: platform position controller is turning into wrong direction

See merge request ArmarX/RobotAPI!169