[ODE] Actuated arm get stuck into static entities

[Tanguy Fautre]

Denes Nagymathe wrote:
> Try with non-infinite friction. I guess your problem can be related to the one mentioned in the ODE docs, called sg. like 'my rolling bodies get stuck between geoms'.
> 
> Denes
> 

I thought it was related to that problem too. But I tried with and 
without friction (respectively mu = 0.2 and mu = 0) and it still doesn't 
work.

Here are my contact joints settings:

	Contact.geom = Contacts[i];
	Contact.surface.mode = dContactBounce | dContactApprox1;
	Contact.surface.bounce = 0.8;
	Contact.surface.bounce_vel = 0.01;
	Contact.surface.mu = 0.2;


Tanguy