cleanup and comments
cleanup and comments

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