Create reset functionality (trigger) for simulation and Orocos components

[xwavex]

Create reset functionality (trigger) for simulation and Orocos components inside the world plugin. Make use of the event trigger mechanism.

[xwavex]

Is now implemented, needs to be tested! Actually all Orocos components now have to handle their clean-up locally. Especially the robot components need to handle it in a specific way so that the robots return back to their initial configuration.