Atlas failing in Boston Dynamics Controller demo

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Following instructions for the Boston Dynamics Controller Demo I always end up with the robot failing after trying to perform the first step.

I've uploaded a video to show the problem: http://youtu.be/ACivMqVeA4U

I'm using latest stable 64bits packages: gazebo 1.6.1-2~precise and drcsim 2.3.0-3~precise. I've detected that my real time factor is lower than tutorial pictures: 0.22 just after launch the simulator and robot.

Computer is an AMD FX-8150 Eight-Core, 32Gb RAM and Nvidia GeForce 8800 GTX. Useful output from launch could be:

Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin

[ INFO] [1365426395.253649823]: Loading MultiSense ROS node.

[ INFO] [1365426395.329325360, 0.017820000]: AtlasPlugin default controller statistics 1kHz

[ 0.058451 0.021096 0.000000 ]

[ 0.058451 0.021096 0.000000 ]

[ 1.004841 -0.506295 0.000000 ]

[ 0.121695 -0.036243 0.000000 ]

[ 1.352409 -0.689738 0.000000 ]

[ 0.065160 -0.017450 0.000000 ]

[ 0.716787 -0.348561 0.000000 ]

[ 0.056265 -0.008449 0.000000 ]

[ 0.958749 -0.300143 0.000000 ]

[ 0.055046 -0.013692 0.000000 ]