Teleoperation and PR2Manager

[joschu]

Right now, we use PR2Manager to do two things: (1) has some convenient members and methods for loading the PR2 and accessing manipulators, (2) teleoperation with phantom omnis.

It would be better to separate these two responsibilities so we can (1) teleoperate with different devices, (2) use the teleoperation interfaces without the pr2. (e.g. with fake grippers)

So I propose the following: pull all the haptic stuff out of PR2Manager, and create some teleoperation classes e.g. PR2MouseController, PR2HydraController, PR2PhantomController. These controllers know how to register all the callback with the scene.

This isn't urgent because it's easy to hack in new control methods with the current code organization, but it would be nice to clean this up eventually.