RobotLocomotion/drake — pull request #204 by tkoolen (2014-06-26 20:23:41+00:00)
Title: Fix non-rigid body transform for Ttree of first body in PlanarNLink

body.Ttree for first body in tree was set to [-1,0,0,0; 0,1,0,0; 0,0,1,0; 0 0 0 1], which is not a rigid body transform. Got rid of this line so that the default eye(4) is used.