finished implementation of updated skill api. Works with example skill provider. Needs testing of specialized skills and refactoring of remaining skills.

update to skills. Allows skills to run concurrently. Refactoring of full skills framework. Allows skill to get "prepared", i.e. wait for input

Changes from manipulation pipeline paper experiments

See merge request !386

Feature: Memory types: findLatestInstance()/Snapshot(), hasSnapshots(), hasInstances()

See merge request !381

change structure of affordance files. Add framedBoxedLocations as possible locations with an extends attribute (e.g. oriented boxes)

Fix Aron IntEnum representation in MemoryViewer

See merge request !383

Add full access to proprioception data from RobotReader

See merge request !382