Hand posture controller runs.

Still need to test it with the other components, but it now compiles
and runs.
Merge branch 'grasp-controller' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg into grasp-controller
Manipulation prereqs launch runs.
Creates abby_objection_manipulator package.

Object manipulator inexplicably includes hardcoded references to the
PR2 kinematics solver, so I forked it and hardcoded those references
to my own kinematics solver.
Made use of probabilistic grasp planner default false.

Probabilistic grasp planner requires a grasp database, which
we do not have at this time.
Added collider to manipulation launch and set config.