refactor drcargs so that it does not depend on the DRC_BASE env variable
refactor drcargs so that it does not depend on the DRC_BASE env variable

manuelli/director,patmarion/director,openhumanoids/director,mitdrc/director,mitdrc/director,openhumanoids/director,openhumanoids/director,openhumanoids/director,patmarion/director,mitdrc/director,manuelli/director,manuelli/director,patmarion/director,openhumanoids/director,mitdrc/director,patmarion/director,mitdrc/director,patmarion/director,manuelli/director,manuelli/director