[ODE] Setting joint veolcities cause exploding

[Martin Magnusson]

Hi,

I'm trying to implement a reset function for my simulation, where all 
bodies and joints are set to their initial positions and all joint 
velocities are set to 0.

It works for the body positions, but when I try to reset the joint 
velocities too, everything explodes. I only have hinge joints, and I 
simply call dJointSetHingeParam() for each one of them, like this:

dJointSetHingeParam( left_knee,  dParamVel, 0 );

Is this not the proper way to do it?

/ martin