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I was able to unpin the hip following the settings for DRCRobotPlugin.cc which I found on bitbucket here:

https://bitbucket.org/osrf/drcsim/pull-request/24/pull-request-21-with-minor-fix-branched/diff#chg-plugins/ros/DRCRobotPlugin.cc

To unpin, run the DRC simulator per the tutorial, and in a separate console publish a topic to /mode:

rostopic pub /mode std_msgs/String "unpinned"

Looks like you've got 4 options for the time being.

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