[ODE] quickStep doesn't work for me.

[Davide Faconti]

I tried the new QuickStep, but in my program it doesn't work.

I simulate a biped walking robot, and all the motor are actuated setting the 
desired position.
This is done with the following little trick, that with the old WorldStep 
works fine:

velocity motor = (desired position - present position) / time_step


The problem anyway doesn't seem releted to the motors, but the contact with 
the ground, that work really bad. The effect is the same of a large CFM on 
the contact joints.

I tried also to increase the number of iterations (I tried also 500!!!), but 
things don't improve much.

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