code cleanup
code cleanup

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