add method for sending plan using bdi height mode to controller
add method for sending plan using bdi height mode to controller

edowson/director,patmarion/director,manuelli/director,manuelli/director,patmarion/director,gizatt/director,RobotLocomotion/director,manuelli/director,empireryan/director,gizatt/director,RussTedrake/director,mitdrc/director,RussTedrake/director,patmarion/director,RobotLocomotion/director,mithrandir123/director,mithrandir123/director,RussTedrake/director,mitdrc/director,openhumanoids/director,empireryan/director,edowson/director,edowson/director,empireryan/director,mitdrc/director,rdeits/director,openhumanoids/director,manuelli/director,patmarion/director,rdeits/director,RobotLocomotion/director,patmarion/director,rdeits/director,mitdrc/director,mithrandir123/director,rdeits/director,gizatt/director,edowson/director,edowson/director,empireryan/director,gizatt/director,RobotLocomotion/director,RussTedrake/director,empireryan/director,openhumanoids/director,openhumanoids/director,gizatt/director,manuelli/director,rdeits/director,mitdrc/director,RussTedrake/director,mithrandir123/director,mithrandir123/director,openhumanoids/director,RobotLocomotion/director