0031388: To support kinematics data in STEP format

0031388: To support kinematics data in STEP format

Implement XCAF structures to store kinematic data.
Add DRAW commands to process kinematic data.
Add test cases.
Update documentation.

# Add new STEP entities
# Add pair_representation_relationship entity
# Add rigit_link_representation entity
# Update new STEP entities
# Add three more new entities
# Add ReadStep::ReadKinematics()
# Add StepKinematics_ActuatedKinPairAndOrderKinPair
# Add StepToGeom::MakeAxis2Placement to StepKinematics_SuParameters