creo2urdf: retrieve more information from the asm

[Nicogene]

This PR retrieve all the required informations from Creo for building a iDynTree model and then export it as urdf, here is the resulting urdf:

<?xml version="1.0"?>
<robot name="2BARS">
  <link name="BAR">
    <inertial>
      <mass value="0.00741938044781609"/>
      <origin xyz="0 -0.015 0.0035" rpy="0 -0 0"/>
      <inertia ixx="-8.349706673190367e-7" ixy="0" ixz="0" iyy="-1.970110919505906e-9" iyz="-3.895174735103447e-7" izz="-7.157575641017976e-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="BAR.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="BAR.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </collision>
  </link>
  <joint name="BAR--BARLONGER" type="revolute">
    <origin xyz="0 0 6.811996306092723e-18" rpy="0 -0 -0.7060878385670463"/>
    <axis xyz="0 0 1"/>
    <parent link="BAR"/>
    <child link="BARLONGER"/>
    <limit lower="0" upper="3.141592653589793" effort="1e+9" velocity="1e+9"/>
  </joint>
  <link name="BARLONGER">
    <inertial>
      <mass value="0.010359380471568048"/>
      <origin xyz="0 -0.0225 0.0035" rpy="0 -0 0"/>
      <inertia ixx="-2.9047306372231453e-6" ixy="-2.249810035331474e-12" ixz="0" iyy="-1.4799217693475475e-9" iyz="-8.158012121359838e-7" izz="-2.7370073443897514e-6"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="BARLONGER.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="BARLONGER.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </collision>
  </link>
</robot>