add ActionToggleHelper base class
add ActionToggleHelper base class

openhumanoids/director,openhumanoids/director,patmarion/director,manuelli/director,openhumanoids/director,patmarion/director,manuelli/director,manuelli/director,openhumanoids/director,manuelli/director,patmarion/director,manuelli/director,openhumanoids/director,patmarion/director,mitdrc/director,mitdrc/director,mitdrc/director,mitdrc/director,mitdrc/director,patmarion/director