diff --git a/Perception.cpp b/Perception.cpp
index d2b690b..be1cedd 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -6,14 +6,14 @@
 
 #include <math.h>
 
-#define RC_DEBUG2
+// #define RC_DEBUG2
 #ifdef RC_DEBUG2
 #include <Arduino.h>
 #endif
 
-unsigned char Perception::maxObjectCount = 70; // 7 is typically the maximum
-                                               // number of object which can
-                                               // be tracked by a human
+unsigned char Perception::maxObjectCount = 7; // 7 is typically the maximum
+                                              // number of object which can
+                                              // be tracked by a human
 
 Perception::Perception() {
   this->trackedObjects = new InterestingThing *[maxObjectCount];
@@ -124,6 +124,7 @@ bool Perception::ObjectNearby(float direction, float range) {
   return false;
 }
 
+#include <WifiSync.h>
 void Perception::AddTrackedObject(Sensor *sensor, Polar position,
                                   unsigned char objectType) {
   InterestingThing *obj = new InterestingThing(sensor, position);
@@ -162,19 +163,20 @@ void Perception::AddTrackedObject(Sensor *sensor, Polar position,
   if (availableSlotIx < maxObjectCount) {
     // a slot is available
     this->trackedObjects[availableSlotIx] = obj;
-    obj->id = availableSlotIx;
+    obj->id = availableSlotIx + 1;
 #ifdef RC_DEBUG2
     Serial.print((int)obj->id);
     Serial.println(": new tracked object");
 #endif
     roboid->networkSync->NewObject(obj);
+    ((WifiSync *)roboid->networkSync)->PublishTrackedObject(roboid, obj);
   }
   // If this object is closer than the farthest object, then replace it
   else if (obj->position.distance <
            this->trackedObjects[farthestObjIx]->position.distance) {
     delete this->trackedObjects[farthestObjIx];
     this->trackedObjects[farthestObjIx] = obj;
-    obj->id = availableSlotIx;
+    obj->id = availableSlotIx + 1;
 #ifdef RC_DEBUG2
     Serial.print((int)obj->id);
     Serial.println(": replaced tracked object");
@@ -226,7 +228,7 @@ InterestingThing *Perception::AddTrackedObject(Sensor *sensor,
   if (availableSlotIx < maxObjectCount) {
     // a slot is available
     this->trackedObjects[availableSlotIx] = obj;
-    obj->id = availableSlotIx;
+    obj->id = availableSlotIx + 1;
 #ifdef RC_DEBUG2
     Serial.print((int)obj->id);
     Serial.println(": new tracked object");
@@ -238,7 +240,7 @@ InterestingThing *Perception::AddTrackedObject(Sensor *sensor,
            this->trackedObjects[farthestObjIx]->position.distance) {
     delete this->trackedObjects[farthestObjIx];
     this->trackedObjects[farthestObjIx] = obj;
-    obj->id = availableSlotIx;
+    obj->id = availableSlotIx + 1;
 #ifdef RC_DEBUG2
     Serial.print((int)obj->id);
     Serial.println(": replaced tracked object");
diff --git a/Roboid.cpp b/Roboid.cpp
index 16db4f6..897ac2a 100644
--- a/Roboid.cpp
+++ b/Roboid.cpp
@@ -16,6 +16,8 @@ Roboid::Roboid() {
   this->perception->roboid = this;
   this->propulsion = nullptr;
   this->actuationRoot = nullptr;
+  this->worldPosition = Vector3::zero;
+  this->worldOrientation = Quaternion::identity;
 }
 
 Roboid::Roboid(Perception *perception, Propulsion *propulsion) : Roboid() {
@@ -46,9 +48,11 @@ void Roboid::Update(float currentTimeMs) {
 
   if (propulsion != nullptr) {
     propulsion->Update(currentTimeMs);
+
+    float deltaTime = (currentTimeMs - lastUpdateTimeMs) / 1000;
     SetPosition(this->worldPosition +
                 this->worldOrientation * Vector3::forward *
-                    this->propulsion->GetVelocity().distance);
+                    this->propulsion->GetVelocity().distance * deltaTime);
     SetOrientation(this->worldOrientation *
                    Quaternion::AngleAxis(this->propulsion->GetAngularVelocity(),
                                          Vector3::up));
@@ -59,6 +63,7 @@ void Roboid::Update(float currentTimeMs) {
 
   if (actuationRoot != nullptr)
     actuationRoot->Update(currentTimeMs);
+  lastUpdateTimeMs = currentTimeMs;
 }
 
 Vector3 Roboid::GetPosition() { return this->worldPosition; }