support use_simple_geometry, with bounding box

[k-okada]

use_simple_geometry was introduced in https://github.com/jsk-ros-pkg/jsk_model_tools/commit/6bc87f3eb61c82106c7e9bf14a02a5e819226932, but not implemented ?

original version :

$ ls -al unitreeeus/go1.l
-rw-rw-r-- 1 k-okada k-okada 57518932 Apr  1 14:40 unitreeeus/go1.l
$ time irteusgl unitreeeus/go1.l '(exit)'

real    0m3.116s
user    0m3.038s
sys 0m0.072s

with --simple_geometry,

$ ls -al unitreeeus/go1.l
-rw-rw-r-- 1 k-okada k-okada 201K Apr 21 18:44 unitreeeus/go1.l
$ time irteusgl unitreeeus/go1.l '(exit)'

real    0m0.151s
user    0m0.149s
sys 0m0.000s

c.f. examples

https://github.com/k-okada/jsk_robot/blob/f7a50a0e8c1b07d6b059c182ea254ed10cd8d21e/jsk_unitree_robot/unitreeeus/CMakeLists.txt#L48-L51