Pendulum has strange position and noise behavior at certain phases

**Describe the bug**
Try running at time = 1. I'm seeing strange behavior where the position is zero, even when I see that when I run an entire series the point at t = 1 is not at zero. The noise is also not normally distributed which is strange.

I'd like to test this bug by adding some tests that align a lot of individual times with the run from a time series.

This is my fault most likely.