added stairs config; a few bug fixes
added stairs config; a few bug fixes

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