add a tray, similar to those ones:

https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html

tune the VR demo a bit, to make it more user friendly.

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -23,6 +23,8 @@ class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
 	//todo: move this to physics client side / Python
 	void createDefaultRobotAssets();
 
+	void resetSimulation();
+
 protected:
 
 
@@ -37,6 +39,7 @@ protected:
 
 	int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
 	void deleteCachedInverseDynamicsBodies();
+	void deleteCachedInverseKinematicsBodies();
 
 public:
 	PhysicsServerCommandProcessor();