[IKParameters]

arm.alwaysEnabled=false
arm.kickEnabled=true
arm.maxSpeed=120
arm.shoulderPitchInterialSensorRate=-10
arm.shoulderRollInterialSensorRate=-10
arm.walkEnabled=false
balanceCoM.kD=-0.0015
balanceCoM.kI=0
balanceCoM.kP=0.0015
balanceCoM.threshold=10
bodyPitchOffset=0.2
footOffsetY=0
hipOffsetX=15

rotationStabilize.k.x=-0.3
rotationStabilize.k.y=-0.2
rotationStabilize.threshold.x=2
rotationStabilize.threshold.y=3

stand.enableStabilization=true
stand.speed=0.04

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=20

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

walk.stabilization.emergencyStopError=500

walk.stabilization.rotationStabilize=true
walk.stabilization.rotationD.x=0
walk.stabilization.rotationD.y=0
walk.stabilization.rotationP.x=-0.01
walk.stabilization.rotationP.y=0.05
walk.stabilization.rotationVelocityP.x=-0.01
walk.stabilization.rotationVelocityP.y=0.03

walk.stabilization.stabilizeFeet=true
walk.stabilization.stabilizeFeetD.x=0.04
walk.stabilization.stabilizeFeetD.y=0.035
walk.stabilization.stabilizeFeetP.x=-0.4
walk.stabilization.stabilizeFeetP.y=-0.3

walk.stabilization.dynamicStepsize=true
walk.stabilization.dynamicStepsizeD=0.5
walk.stabilization.dynamicStepsizeP=-1