CBiRRT handles smoothing of constrained trajectories
Modified servo_simulator to cleanly exit on crash.
Merge branch 'jeking_tsr' of github.com:personalrobotics/prpy into jeking_tsr
Merge branch 'jeking_tsr' of https://github.com/personalrobotics/prpy into jeking_tsr
Switched from GetName to GetXMLId for TSRLibrary.
Added more error checking to TSRLibrary.