Got the spring test working again.
Got the sprint tutorail working.
1. Changed the spring class to use an averaged velocity over last 5 iterations for damping.
2. Modified the spring portion of the muscle and stretch receptor tests to use a damping of 3k instead of 1k. At 1k it caused ringing. I know this is a difference in behavior, but I am not sure what to do on this one. There will be some differences in the behaviors of the physics engines. At 3k the results are very similar.
3. Added spring velocity for charting.
got the contact sensor test working again.