I am so stupid.  Fixed som major errors in the CM9_BC that caused horrific results with an armless Type-A Humanoid.
1) The initial pose_ and nextpose_ values set in BioloidController::setup() were not bit-shifted.
2) At no point did the BioloidController object call readPose() and the example usage in the header file made no mention of a need to call it, so added that to interpolateSetup() as a precaution against servos not being in their assumed pose (default is 512).
3) Added a check for valid returned values in readPose() to prevent it assuming the servo is currently in a position horribly out of range.

In other news:
1) Added mtn2cm9.py to the libraries/CM9_BC/examples.
2) Added an armless Type-A soccer motion file example to CM9_BC.  It only goes to the initial position, but adding other poses is not complicated.  Shows how to use both playSeq() and manual pose sequencing (commented out).