You're missing these two functions in your position/rotation code...
dBodySetLinearVel(body,0,0,0)
dBodySetForce(body,0,0,0)
Let me know if that doesn't help.
dBodySetLinearVel(body,0,0,0)
dBodySetForce(body,0,0,0)
Let me know if that doesn't help.
Excellent, seemed to do the trick!