[IKParameters]

stand.enableStabilization=true
stand.speed=0.04
stand.hipOffsetX=20

walk.general.hipOffsetX=20
walk.general.stiffness=1.0
walk.general.useArm=false
walk.general.hipRollSingleSupFactorLeft=0.8
walk.general.hipRollSingleSupFactorRight=0.8

walk.hip.comHeight=260
walk.hip.comHeightOffset=0.18
walk.hip.comRotationOffsetX=0
walk.hip.ZMPOffsetY=5
walk.hip.ZMPOffsetYByCharacter=0

walk.step.duration=250
walk.step.doubleSupportTime=0
walk.step.stepHeight=17

walk.limits.maxTurnInner=10
walk.limits.maxStepTurn=30
walk.limits.maxStepLength=45
walk.limits.maxStepLengthBack=35
walk.limits.maxStepWidth=50
walk.limits.maxStepChange=0.3
walk.limits.maxCtrlTurn=30
walk.limits.maxCtrlLength=80
walk.limits.maxCtrlWidth=50