Movement impulses with Hingeconstraints/Motors

[Bigpet]

I am implementing a physics-interface for a simulation framework and have run into a problem that I am not sure how to fix.

The Problem:
Seemingly random impulses to the rigid bodies and over time btHingeConstraints that veer of their current position, although they have and active motor with 0 velocity. Here's a Video of what happens:
http://www.youtube.com/watch?v=pfxDjFqPcAY The part of up to 1:10 is Bullet and after that it's ODE

The Setup:
The collision shapes are all cubes and some spheres in the joints. The RigidBodies have a collision mask of

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wrld->addRigidBody(obj,4,~4);

for testing purposes. The ground is a btPlaneShape. The Hinges are getting almost all a

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joint->enableAngularMotor(true,0,joint->getMaxMotorImpulse());

every frame. Except for the head at the moment which as you can see moves. I also tried to set the ccdpenetrationdepth of the world to a small value but it didn't help. Also the RigidBodies have their deactivations disabled and I want them to not only be stable when in place but also when moving, so that's not a solution.



I would really appreciate some suggestions to make it more stable.