add FramedPositionAndOrientation aron type and add constructor in pose and framed pose related to this type

In context of https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85

In context of https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85

see https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85

Signed-off-by: ARMAR-DE <>

Signed-off-by: ARMAR-DE <>

switch to shared mutex for skill executions and factories to prevent the GUI from blocking if a skill with subskills is stopped

add locks to robot state reader and transform reader to secure the prx. Make transform reader copyable.

make ice override of commit method use the commitLocking version to ensure that the coreSegment gets locked

Note that this might still lead to full deadlocks in ArmarX GUI, rendering the whole GUI unresponsive for good. This issue must be fixed in the skill framework.