Add bullet thirdparty library

thirdparty/bullet/data/table_square/LICENSE.txt

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+URDF created by Erwin Coumans
+
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.

thirdparty/bullet/data/table_square/table.mtl

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+newmtl table
+  Ns 10.0000
+  Ni 1.5000
+  d 1.0000
+  Tr 0.0000
+  Tf 1.0000 1.0000 1.0000 
+  illum 2
+  Ka 0.0000 0.0000 0.0000
+  Kd 0.5880 0.5880 0.5880
+  Ks 0.0000 0.0000 0.0000
+  Ke 0.0000 0.0000 0.0000
+  map_Ka table.tga
+  map_Kd checker_grid.jpg
+  
+  
+

thirdparty/bullet/data/table_square/table.obj

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+# table.obj
+#
+
+o table
+mtllib table.mtl
+
+v -0.500000 -0.500000 0.500000
+v 0.500000 -0.500000 0.500000
+v -0.500000 0.500000 0.500000
+v 0.500000 0.500000 0.500000
+v -0.500000 0.500000 -0.500000
+v 0.500000 0.500000 -0.500000
+v -0.500000 -0.500000 -0.500000
+v 0.500000 -0.500000 -0.500000
+
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 0.000000 1.000000
+vt 1.000000 1.000000
+
+vn 0.000000 0.000000 1.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 -1.000000 0.000000
+vn 1.000000 0.000000 0.000000
+vn -1.000000 0.000000 0.000000
+
+g table
+usemtl table
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 3/3/1 2/2/1 4/4/1
+s 2
+f 3 4 5
+f 5 4 6
+s 3
+f 5 6 7
+f 7 6 8
+s 4
+f 7 8 1
+f 1 8 2
+s 5
+f 2 8 4
+f 4 8 6
+s 6
+f 7 1 5
+f 5 1 3
+

thirdparty/bullet/data/table_square/table_square.urdf

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+<?xml version="1.0" ?>
+<robot name="urdf_table">
+ <link name="world"/>
+  <joint name="fixed" type="fixed">
+    <parent link="world"/>
+    <child link="baseLink"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+       <mass value="0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+	    <mesh filename="table.obj" scale="0.6 0.6 0.08"/>
+      </geometry>
+	   <material name="framemat0">
+      <color
+                    rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.25 -0.25 0.28"/>
+      <geometry>
+        <box size="0.05 0.05 0.56"/>
+      </geometry>
+	  <material name="framemat0"/>	 
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.25 0.25 0.28"/>
+      <geometry>
+        <box size="0.05 0.05 0.56"/>
+      </geometry>
+	  <material name="framemat0"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.25 -0.25 0.28"/>
+      <geometry>
+        <box size="0.05 0.05 0.56"/>
+      </geometry>
+	  <material name="framemat0"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.25 0.25 0.28"/>
+      <geometry>
+        <box size="0.05 0.05 0.56"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+      <box size="0.6 0.6 0.08"/>
+      </geometry>
+    </collision>    
+  </link>
+</robot>
+