[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