allow feet to be used as supports if contact force is sensed
allow feet to be used as supports if contact force is sensed

Conflicts:
	systems/robotInterfaces/QPLocomotionPlan.m

thientu/drake,sheim/drake,hanssusilo/drake,psiorx/drake,crogers3/drake,scottviteri/drake,thientu/drake,billhoffman/drake,edowson/drake,sheim/drake,thientu/drake,crogers3/drake,sheim/drake,astrorog/drake,scottviteri/drake,scottviteri/drake,psiorx/drake,scottviteri/drake,billhoffman/drake,crogers3/drake,astrorog/drake,crogers3/drake,edowson/drake,psiorx/drake,sheim/drake,psiorx/drake,scottviteri/drake,crogers3/drake,edowson/drake,edowson/drake,astrorog/drake,hanssusilo/drake,psiorx/drake,hanssusilo/drake,astrorog/drake,sheim/drake,psiorx/drake,thientu/drake,sheim/drake,crogers3/drake,billhoffman/drake,edowson/drake,edowson/drake,edowson/drake,billhoffman/drake,hanssusilo/drake,billhoffman/drake,hanssusilo/drake,scottviteri/drake,thientu/drake,astrorog/drake,crogers3/drake,hanssusilo/drake,thientu/drake,scottviteri/drake,sheim/drake,astrorog/drake,hanssusilo/drake,crogers3/drake,hanssusilo/drake,psiorx/drake,thientu/drake,astrorog/drake,billhoffman/drake,psiorx/drake,billhoffman/drake,edowson/drake,sheim/drake,billhoffman/drake