RobotLocomotion/drake — pull request #74 by kuindersma (2014-03-27 21:14:44+00:00)
Title: RBM ignores negative transmission reductions when computing input limits

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, so I've put this logic back in.