Decrease damping (i.e. viscous friction) at the joint from 1 to 0.1 (same value used for Atlas robot in Virtual Robotics Challenge) because we found out that with the previous value some errors in the controller were hidden by the friction
Lower position PD gains to avoid high-frequency obscillations when controlling joints in position (especially on torso and ankle pitch joints). Now gains are too low to get good tracking in position, so the integral gains should be used for acheiving that (now they are all zero and they do not seem to procude any effect if increased).