added an additional waypoint to prevent the toe from stubbing

[rjgriffin42]

In the foot swing, sylvain had recently added a feature to the swing where when stepping forward and down, the foot would pitch a little at a midpoint. This was to make it so that if the robot hit its heel on something, it would kind of slide, so the collision wasn't as bad. The problem is that if the foot starts pitched up, it then has to pitch a lot more quickly when stepping down, which can cause it to stub its toe by not clearing the ground successfully. You could see this on nadia on the end to end cinder block tests. This adds an additional clearance waypoint that prevents it from pitching to early.