Have geo stable and continuous gait working allows for a cycle to be set in milliseconds and uses a sinodal gait in two stages similar to Dan's B.E.T.H.
The gait is always doing absolute offsets based on speed and time so switching directions can get pretty rough on the edges.  Maybe a little mixing/dampening is needed while transitioning out of earlier commands. Making slow transitions avoids this.
Also did a bit of gait profiling in python to analyze what was happening. Until I finally seem to have gotten the COG directions right.
The regular gaits are broken as Xspeed, Yspeed and Rspeed don't seem to cause action.  I suspect the introdution of floating point math in the speed multiplier may have gimped it.  Remains to be debugged :P
Also the wheeled postures are a mess after I upgraded the body chaning the angle of the front coxa and flipping them over.