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

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -125,6 +125,15 @@ struct UrdfJoint
 
 	double m_jointDamping;
 	double m_jointFriction;
+	UrdfJoint()
+		:m_lowerLimit(0),
+		m_upperLimit(0),
+		m_effortLimit(0),
+		m_velocityLimit(0),
+		m_jointDamping(0),
+		m_jointFriction(0)
+	{
+	}
 };
 
 struct UrdfModel