working rev, now to fix params
working rev, now to fix params

manuelli/director,RobotLocomotion/director,openhumanoids/director,openhumanoids/director,RobotLocomotion/director,patmarion/director,mitdrc/director,openhumanoids/director,patmarion/director,RobotLocomotion/director,patmarion/director,manuelli/director,mitdrc/director,RobotLocomotion/director,openhumanoids/director,patmarion/director,manuelli/director,RobotLocomotion/director,mitdrc/director,patmarion/director,mitdrc/director,mitdrc/director,manuelli/director,manuelli/director,openhumanoids/director