added affordance loader to pk, added property definitions to finders, added robot finder, added visualization for locations

added virtual destructor to finder info base classes, added collapse all button to memory gui, allow to get reader properties, allow memoryid as shortcut in aron

changes due to armarx::variant usage internally in aron. Updated defaults in aron as they were not optional. Switched to ADL and SFINAE for aron codegen and eigen types.

In the old version, the writePosition would be changed by each new timestep arriving from the rt thread. If the logging of one single timestep would take longer than one loop iteration, this could go on indefinately. Now that local versions of the iterators are used, this should not happend anymore