[ODE] Hinge Motor Problem?

[Gearoid Murphy]

    I've come across a bug with a three bodied system connected via 
hinge joints. The system is anchored to the static environment via a 
hinge joint. My problem is that if one joint is moving, I can move the 
other joints, if I stop all the joints (set their velocity to zero), I 
am unable to move them again. This has happened with 
dJointSetHingeParameter function call and dBodySetAngularVelocity call. 
I know it has something to do with the joints because I have no problem 
stopping and starting the angular velocity of the bodies when the joints 
are removed.
    If anybody has come across this kind of problem I'd appreciate some 
feedback, I've hacked around the problem for my simple needs, but i'd 
like to know if anybody else had this problem.
Gearoid