reorganize into a class
reorganize into a class

mithrandir123/director,empireryan/director,openhumanoids/director,edowson/director,edowson/director,RobotLocomotion/director,manuelli/director,openhumanoids/director,RobotLocomotion/director,edowson/director,RobotLocomotion/director,manuelli/director,empireryan/director,RobotLocomotion/director,empireryan/director,gizatt/director,mitdrc/director,patmarion/director,rdeits/director,RussTedrake/director,RussTedrake/director,edowson/director,edowson/director,manuelli/director,gizatt/director,patmarion/director,manuelli/director,manuelli/director,mitdrc/director,mitdrc/director,empireryan/director,mithrandir123/director,openhumanoids/director,rdeits/director,RussTedrake/director,rdeits/director,openhumanoids/director,RussTedrake/director,mithrandir123/director,patmarion/director,mithrandir123/director,RussTedrake/director,mitdrc/director,patmarion/director,openhumanoids/director,gizatt/director,gizatt/director,gizatt/director,empireryan/director,patmarion/director,rdeits/director,RobotLocomotion/director,rdeits/director,mitdrc/director,mithrandir123/director