[ODE] swinging hinge joint

[Wesley Smith]

 Hi,
I'm trying to get a grasp on ODE and to that end, I'm trying to make
very very simple tests for myself.  Right now, I'm trying to create a
hinge joint between a plane and a sphere and have the sphere swing.  I
have the plane as a Geom with no Body 'cause I don't want it to move. 
It's located at (0, 4, 0) with it's normal pointing down.  The sphere
I create at (0, 2.5, 0) initially and place the joint anchor at (0,
3.5, 0) with an axis (1, 0, 0).  Here's the code:

m_ground = dCreatePlane(m_worldSpace, 0, -1, 0, -4);

//set positions for creating joints
dBodySetPosition(m_grains[0].bodyID(), 0.f, 2.5f, 0.f);
	
//make hinge joint between sphere and world
dJointID jid =  dJointCreateHinge(m_grainWorld, 0);
dJointSetHingeAnchor(jid, 0.f, 3.5f, 0.f);
dJointSetHingeAxis(jid, 1.f, 0.f, 0.f);
dJointAttach(jid, m_grains[0].bodyID(), 0);

dBodySetLinearVel(m_grains[0].bodyID(), 2.f, 0.f, 0.f);
dJointAddHingeTorque(jid, 3.f);


//move sphere to start simulation
dBodySetPosition(m_grains[0].bodyID(), 1.f, 3.f, 0.2f);

I also try to give the sphere/joint a "push" with the torque and
velocity (m_grains[0] is my sphere).  What I'm seeing during
simulation is that the sphere ends up moving to (0, 0, 0) and staying
there.  If I try and apply a velocity to it, it immediately snaps back
into place with no swing.  Obviously, I'm not doing something right. 
I suspect this line is not correct:

dJointAttach(jid, m_grains[0].bodyID(), 0);

How can I attach the joint to a sphere and an immovable plane to get
this pendulum-like swinging effect?

thanks,
wes