update DRCPlanner with to handle CONFIGURATION_TRAJ_WITH_SUPPORTS channel
update DRCPlanner with to handle CONFIGURATION_TRAJ_WITH_SUPPORTS channel

openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro