change manipulation::gripper to model::gripper
Merge branch 'gripper' into Mathieu
Add gripper.cc and gripper.hh
Rename handlePositionInJoint as objectPositionInJoint.
Cosmetic change (add documentation).
Remove deprecated file.
Use GJKSolver_indep in fcl.

  GJKSolver_libccd fails to correctly compute the closest points.
Add extra configuration space

  Extra configuration space enable users to store extra configuration
  variables in the robot configuration. For instance to plan motions in the
  state space.
Add DisabledCollisions, vector of joints that will be in collision with the object