Desires.bring: robustify, improve spoken text.
Desires.bring: robustify, improve spoken text.

This commit also add two features (currently commented because not tested enough
to take into account the 'mood' of the human when computing the transfer pose
with OTP, and to account for the furniture height to move the torso before
picking objects

chili-epfl/pyrobots-nao,chili-epfl/pyrobots