Cleaned up actuator name logic.
Cleaned up actuator name logic.

billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake