Split tsr

[Shushman]

This branch removes the tsr subfolder from the prpy package and changes the imports to reflect that.

[brianhou]

Tests fail due to an assortment of ImportErrors. The root cause is a tsr.py in prpy.planning that is found before the tsr module. Renaming tsr.py seems to fix that issue. I'll let you pick the new name.

In addition, there were a couple of places that passed the manip parameter to TSR, which seems like it should be manipindex. Changing that in 8dbb20a made the tests pass.

[Shushman]

These are the changes so that prpy/tests/planning now all run:

• Renamed tsr.py to tsrplanner.py
• Changed __init__.py to import from tsrplanner

[Shushman]

The final commit is to base/robot.py to change the constructor call to tsrlibrary
The call now provides the manipindex argument to be compatible with tsr without OpenRAVE dependencies. So this merge should happen after tsr is updated to merge the remove_or_deps

[brianhou]

Tests are failing on Travis. You might need to specify the tsr module as a dependency in package.xml. Running them locally doesn't have that issue.