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/TinyRenderer/TinyRenderer.cpp

@@ -138,6 +138,7 @@ void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVerti
              */
 		}
 		
+		m_model->reserveMemory(numVertices,numIndices);
         for (int i=0;i<numVertices;i++)
         {
             m_model->addVertex(vertices[i*9],