[ODE] Actuated arm get stuck into static entities

[Tanguy Fautre]

Hello,


I have a single arm that is attached to the world by a hinge.
This hinge is motorized and controlled by a servo-motor (inspired by 
http://ode.org/cgi-bin/wiki.pl?ServoSimulation).

But whenever the arm touches a collision plane (or any other static 
entities), the arm gets stuck and won't move anymore no matter what I do 
with the motor (like if the collision joint won't let go of it) .

What could I possibly be doing wrong? Any solution?


Regards,

Tanguy