from Scott:  The PR2 example was failing because the URDF includes some negative reductions and they were flipping the min/max efforts. The previous behavior before asymmetric effort limits were supported was to take the absolute value of reductions.

I've put in the extra logic to handle this.
more robust handling of gurobi expired licenses. (at least for checkDependency('gurobi')).  testQP will still fail because I don't have as good of a way to check in checkDependency('gurobi_mex')