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/kuka_iiwa/model.sdf

@@ -1,6 +1,7 @@
 <sdf version='1.6'>
 <world name='default'>
   <model name='lbr_iiwa'>
+  <static>1</static>
     <link name='lbr_iiwa_link_0'>
       <pose frame=''>0 0 0 0 -0 0</pose>
       <inertial>
@@ -34,7 +35,7 @@
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
-          <diffuse>0 0 1 1</diffuse>
+          <diffuse>0.2 0.2 0.2 1</diffuse>
           <specular>0.1 0.1 0.1 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
@@ -71,6 +72,12 @@
             <uri>meshes/link_1.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_1' type='revolute'>
@@ -124,6 +131,12 @@
             <uri>meshes/link_2.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_2' type='revolute'>
@@ -177,6 +190,12 @@
             <uri>meshes/link_3.stl</uri>
           </mesh>
         </geometry>
+				<material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.42 0.04 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_3' type='revolute'>
@@ -230,6 +249,12 @@
             <uri>meshes/link_4.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_4' type='revolute'>
@@ -283,6 +308,12 @@
             <uri>meshes/link_5.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_5' type='revolute'>
@@ -336,6 +367,12 @@
             <uri>meshes/link_6.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.42 0.04 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_6' type='revolute'>
@@ -389,6 +426,12 @@
             <uri>meshes/link_7.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.2 0.2 0.2 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_7' type='revolute'>