cleaning up manipulation side of things. Most of the pinned stuff is removed except for driving. Will merged pinned manipulation planning and unpinned manipulation into a single controller with an argument soon.
cleaning up manipulation side of things. Most of the pinned stuff is removed except for driving. Will merged pinned manipulation planning and unpinned manipulation into a single controller with an argument soon.

git-svn-id: 767549f2a3626ae39d79f5348867a3ebb5082aca@4244 c7283977-0100-402a-a91a-fa70b306dbfe

openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro