diff --git a/CMakeLists.txt b/CMakeLists.txt
index 43d5b899196f..bab32198f537 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -109,7 +109,7 @@ set(gloptipoly_GIT_TAG c9e796e99c584ecf78317348c4162a2ed4121156)
 set(gloptipoly_IS_PUBLIC FALSE)
 set(gurobi_GIT_REPOSITORY https://github.com/RobotLocomotion/gurobi.git)
 set(gurobi_GIT_TAG bb1dbbdd61a4e435e0e0680cb90b8df2eb59a815)
-set(gurobi_IS_PUBLIC TRUE)
+set(gurobi_IS_PUBLIC FALSE)
 set(iris_GIT_REPOSITORY https://github.com/rdeits/iris-distro.git)
 set(iris_GIT_TAG a17bdb4a20a8195363b629c47fd1b6251b44c95e)
 set(iris_ADDITIONAL_BUILD_ARGS PATCH_COMMAND make configure-cdd-only)
diff --git a/drake/systems/plants/TimeSteppingRigidBodyManipulator.m b/drake/systems/plants/TimeSteppingRigidBodyManipulator.m
index e37fa8bfab85..ee58f3b129cf 100644
--- a/drake/systems/plants/TimeSteppingRigidBodyManipulator.m
+++ b/drake/systems/plants/TimeSteppingRigidBodyManipulator.m
@@ -208,7 +208,6 @@ function checkDirty(obj)
         vn = wvn;
       else
         vn = Mvn*z + wvn;
-        [obj2,z2,Mvn2,wvn2] = solveMexLCP(obj,t,x,u);
       end      
       
       vToqdot = obj.manip.vToqdot(q);