[20160923] Trouble to stabilize Valkyrie on single foot

In this video, what Vakyrie tries is to move balance on the left foot and lifts her right foot a little. However, even before lifting a foot, Valkyrie fails to find reaction forces (nlopt ends up with (-4) error). 

One clear problem is Capture point does not like large feedback gain. 

 (upper: x, lower: y)

Capture points data (blue: Actual, red: commanded) show there are large errors. One thing I can try is playing in srLib, which is simulation provides much handy environment (easy to control)

Let me extensively debug the current program and report more clear plan.