RobotLocomotion/drake — pull request #591 by rdeits (2014-12-01 20:47:17+00:00)
Title: Fix frames in swing planning

fix incorrect assumptions in swing planning (discovered when fixing bugs for Valkyrie, which has its foot frames in weird orientations)
* no longer assume that the orientation of the sole matches the orientation of the foot
* no longer assume that the transform from foot to sole is the same in both feet