[ODE] Problem with friction or maybe with units...

[Proy. Grado Construccion de Robots Bipedos - ENS]

Hello,

    I am trying to simulate a biped robot and with mu set to 2 it seems 
to be walking on ice. That shouldn't happend :(

I use:
    gravity=-9.8
    density=1000
    FMax=70 (for all motors)
    surface.mode=0
    surface.mu=2

If units are OK this should be earth gravity, water density, torque 
similar to commercial little motors, and a rough floor. What can be wrong ?

Regards,
    Damián Lezama