[ODE] strange FeedBack behaviour

[Davide Faconti]

I am currently using ODE to simulate a humanoid robot. I actuate the motors 
using the joint's Motor functions provided, but when I read the torque given 
by the joint using the dJgetFeedback function, I obtaine very unexpected 
results.

www.isaacrobot.org/docs/torque_anlke.jpg

to get an idea of what I mean...
I velocity profile of the all the joints is smooth and considering the 
movements I have designed, I can tell you for sure that this data are not 
related to reality.
Can anyone figure out the reason of that noisy graph?
Thank you in advance

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