[ODE] help for hinge joint

[Aurélien Hiron]

Hi,

(I'm french, so excuse me for my poor english ;) )
I have a personnal projet, who consist of simulate an hexapode 
robot, to be able to work on walking algorithm.

My probleme is that I wan't to simulate servo motor.
It think know how to do this, but I want to have confirmation 
(I have never use ODE before):

I use a hinge joint.
I have to set my servo to a specific angle, so i have made a 
control of current joint angle (by dJointGetHingeAngle)
to set the hinge velocity.

I also need to have opposite force of the servo, but i don't 
know how to do that. i have try to get the constraint force 
mixing (dParamCFM) but i have always the same value : 0.000010.

So if someone can help me for the last point, it will be 
shurly fun.
Thx.
                      Aurélien


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