[ODE] Setting chain configuration

[ode at usestrict.de]

hi

I want to mix dynamic and kinematic simulation, i.e. I have two (or
more) seperate body chains in my simulation, but I want to choose
whether a chain is simulated by ODE. I know that I can disable bodies
(or body islands) so that they aren't simulated any more. But how could
I set the chain configuration (angles, body positions) depending on any
external kinematic simulation? After the bodies are re-enabled, they
should be simulated according to their new position.
% If you save the world too often, it begins to expect it.
-- 
bye, Frank!