1. Found a bug in the code I put in to quantize the joint position/velocity. For the moment I am disabling that feature.
2. Fixed a bug in the RemoteControlLinkage where it was not setting the external current correctly. When the time step of the neural and physics modules were different it was incorrectly adding multiple steps of current. I switched the way I was doing this to fix the issue.
3. I have run into another bug where sometimes the robot code does not play back at real time. The PlaybackControl time is way too big and I am not sure why. I have added some new timing variables to try and figure out what is going on there, but reproducing it is difficult because it only happens every now and then.