Incorporate @j-rivero's feedback.
Incorporate @j-rivero's feedback.
scamille/simbody,chrisdembia/simbody,Gjacquenot/simbody,chrisdembia/simbody,Gjacquenot/simbody,chrisdembia/simbody,scamille/simbody,robojukie/simbody,simbody/simbody,simbody/simbody,scamille/simbody,elkingtonmcb/simbody,elkingtonmcb/simbody,elkingtonmcb/simbody,robojukie/simbody,Gjacquenot/simbody,robojukie/simbody