If the sensor input from a joint is used as a command for this joint in a callback function, the joint becomes compliant.
The DCM and ALMotion threads are not synchronized (at least in simulation).
When the module is running on PC in simulation, RHipYawPitch is not updated and is always equal to 0.0. We haven't checked it on th robot but it is likely to behave the same way.

Useful resources

Documentation and software from Aldebaran Robotics are available on their website:
http://users.aldebaran-robotics.com/