rename defs.sensorTypes -> defs.sensortypes
change xType -> x/type

Changed for x= controller, sensor, collision
use initObjectProperties for material, sensor and controller
change geometryType to geometry/type
silence cleanObjectProperties
changed initObjectProperties to use typed properties
finalize custom annotations in robot dictionary

To make it possible to later collect all custom annotations, we had to
mark them, the solution being putting a '$' in front of their names.
Categorization of this data is allowed by '/', in case an object
represents more than one exported objects (bones -> links + joints
+ motors), we can use two slashes to indicate the subtype.
add export of generic annotations

The old solution of dumping all information to *_simulation.yml was
replaced by generically exporting the gathered annotated data. This
can still do the same if an annotation such as 'simulation/propertyname'
or 'joint/simulation/propertyname' is used.
Merge branch 'type_specific_export'