add support for only applying plan shift to ZMP xy pose
add support for only applying plan shift to ZMP xy pose

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