[ODE] Setting Joint Positions

[Andrew Maas]

I am trying to playback an ODE simulation from a recorded data file.
To do this, I want to just continually set the positions of the
bodies/joints at each timestep and never call worldStep. It would be
very helpful to be able to just set the joint positions, but I don't
think this is possible.
Is there an easier way to set joint positions than working through the
kinematics and setting individual body positions?

Thanks
-- 
Andrew Maas
Carnegie Mellon University
School of Computer Science