better naming and avoiding data copy
better naming and avoiding data copy

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