Babies behave in certain ways in order to get their needs met. Nothing more. It is our job as parents to meet those needs.
Manipulation implies fraud, deception or devious behavior for one's own advantage.
A baby's cognitive skills and reasoning abilities are not nearly developed enough for them to be capable of manipulation.
Is a crying child manipulating the parent?
Wanting to be held, loved, and comforted is just as much a 'need' as hunger, discomfort, and being tired.