Add kiva_shelf to prepare for picking/grasping task

Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures

data/kiva_shelf/0_Bullet3Demo.txt

@@ -0,0 +1,7 @@
+--start_demo_name=R2D2 Grasp
+--mouse_move_multiplier=0.400000
+--mouse_wheel_multiplier=0.010000
+--background_color_red= 0.900000
+--background_color_green= 0.900000
+--background_color_blue= 1.000000
+--fixed_timestep= 0.000000