code cleanup
code cleanup

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