Hebi-py

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* Make package installable
* Moved the header files into an include directory
* Removed the Eigen folder; use ROS package instead
* Fixed CMake for installable package

* Addressed Eigen dependency
* Installed include files and libraries correctly

* NOTE: this does not correspond with an official 2.0.2
release of the upstream HEBI C++ API, because these
changes were all local ROS build system changes. This
mismatch will be resolved in v2.1.0.
* Contributors: Matthew Tesch, iamtesch

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* Initial import of the HEBI C++ API v2.0.1

* Note: package.xml and CMakeLists.txt have been changed to be catkin
compliant.

* Addressed i386/armhf/aarch64 ros buildfarm issues.
* Contributors: Matthew Tesch


Changelog

Changes:
- added tree support (including `output` element definition)
- added support for include elements
- added support for mesh attributes

Changes:
- Added support for R-series actuators, links, and brackets
- Added support for input and output link types (allowing for inline or right angle styles)
- Added explicit end-effector types to correspond to API end-effector frames
- Added explicit notion of "interface types" that enforce addition of only mechnically compatible elements
- Added optional "description" parameter for <robot>
- Updated example HRDF files, and added ones for standard R-series arms and arms with grippers

Changes:
- added requirement of HRDF version number in file
- added relaxed whitespace parsing for vectors and matrices (spaces, tabs, carriage returns, and newlines)
- defined that implementations should support case-insensitive parsing of enums, but add warnings when encountering non-matches cases
- defined format for basic formula interpretation for single-element floating point fields
- added additional formula support grammer for rotation matrices
- added inertias (defaults to point mass)
- add offset and override attributes for built-in robot model elements (links, brackets, and actuators)