- do not assume that base link is called "base_link".

  urdf file does not specify the type of root joint. Parameter rootJointType
  specifies the type of the root joint of the robot. Possible values are
    - "freeflyer",
    - "planar",
    - "anchor".

  cut dependency to Kitelab and to jrl-dynamics.

  * Besides the gaze joint, gaze origin and direction need to be set.
  * Gaze joint local origin and orientation are used to fillthis
    information.
  * It is hence assumed that the gaze joint is correctly placed in the
    kinematic tree. This can be done by defining an anchor joint in
    the robot URDF file and give it the correct transformation.

 * Bodies are now of type CapsuleBody.
 * In SRDF parser, when geometry is of segment type, use special
   methods addInnerCapsule addOuterCapsule to define specific
   self-collision pairs.

  * Bodies are not explicitly created anymore.
  * When a solid component is added to a joint component, the body is
    created once with the body factory if it has not been created yet.
  * In SRDF parser, add inner and outer objects for bodies to compute
    distance computation analyses.

  * From now on, the root joint will be named "base_joint".

  * The pose argument is the local link pose.
  * The origin of either visual or collision node can be used.

  * Create appropriate Kite solid component and attach it to body.
  * Use assimp to parse mesh files.
  * assimp usage has been copied from rviz and adapted.
  * Only meshes are supported for now.

  * The methods are largely inspired from the similar parser
    jrl_dynamics_parser by Florent Lamiraux, Guido Manfredi, and
    Thomas Moulard.
  * So far the dyncamic part of the robot is fully loaded, as the
    kinematic part in of Kite device component.
  * No Kite solid component is attached to the bodies.