cleanup, removed redundant quaternion transforms
cleanup, removed redundant quaternion transforms

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