Added support for the Translation3D-type IK

Modified the ikfast moveit template to work with OpenRAVE's
Translation3D-type IK. This is useful for manipulators with few DOF
(i.e., 3 or 4) that just want to go to a certain position without caring
so much about the end effector's orientation.
Make sure run_depends get added to pkg manifest as well. Fix #30.

Short-circuit evaluation of the statement determining the value of
'modified_pkg' caused the second call to update_deps(.., 'run_depend', ..)
to never happen. Using binary or to work around that.
Merge pull request #31 from gavanderhoorn/issue30_missing_run_depends

Fix for missing run_depends in generated pkg manifest
Merge pull request #25 from sjlevine/translation3d

Added support for the Translation3D-type IK