<commit_before>[IKParameters]
arm.alwaysEnabled=false
arm.inertialModelBasedMovement.shoulderPitchInterialSensorRate=-10
arm.inertialModelBasedMovement.shoulderRollInterialSensorRate=-10
arm.kickEnabled=true
arm.maxSpeed=120
arm.shoulderPitchInterialSensorRate=-10
arm.shoulderRollInterialSensorRate=-10
arm.synchronisedWithWalk.elbowRollRate=0.5
arm.synchronisedWithWalk.shoulderPitchRate=0.5
arm.synchronisedWithWalk.shoulderRollRate=0.5
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.bodyPitchOffset=0.2
stand.enableStabilization=true
stand.enableStabilizationRC16=false
stand.hipOffsetX=25
stand.relax.allowedDeviation=5
stand.relax.allowedRotationDeviation=5
stand.relax.enable=true
stand.relax.jointOffsetTuning.currentThreshold=0.3
stand.relax.jointOffsetTuning.deadTime=1000
stand.relax.jointOffsetTuning.enable=true
stand.relax.jointOffsetTuning.minimalJointStep=0.00139626
stand.relax.stiffnessControl.deadTime=100
stand.relax.stiffnessControl.enable=true
stand.relax.stiffnessControl.maxAngle=2
stand.relax.stiffnessControl.maxStiffness=1
stand.relax.stiffnessControl.minAngle=0.08
stand.relax.stiffnessControl.minStiffness=0.3
stand.relax.timeBonusForCorrection=1000
stand.speed=0.04
stand.stiffness=0.7
walk.general.bodyPitchOffset=0.1
walk.general.hipOffsetX=20
walk.general.hipRollSingleSupFactorLeft=0.6
walk.general.hipRollSingleSupFactorRight=0.6
walk.general.stiffness=1.0
walk.general.stiffnessArms=0.7
walk.general.useArm=true
walk.hip.ZMPOffsetY=-7
walk.hip.ZMPOffsetYByCharacter=0
walk.hip.comHeight=260
walk.hip.comHeightOffset=0.18
walk.hip.comRotationOffsetX=0
walk.hip.comStepOffsetY=0
walk.hip.newZMP_ON=true
walk.kick.ZMPOffsetY=-7
walk.kick.stepHeight=30
walk.limits.maxCtrlLength=80
walk.limits.maxCtrlTurn=30
walk.limits.maxCtrlWidth=50
walk.limits.maxStepChange=0.3
walk.limits.maxStepLength=60
walk.limits.maxStepLengthBack=35
walk.limits.maxStepTurn=30
walk.limits.maxStepWidth=50
walk.limits.maxTurnInner=10
walk.stabilization.dynamicStepsize=true
walk.stabilization.dynamicStepsizeD=0.05
walk.stabilization.dynamicStepsizeP=-0.1
walk.stabilization.emergencyStopError=100
walk.stabilization.hipOffsetBasedOnStepChange.x=0
walk.stabilization.hipOffsetBasedOnStepChange.y=0
walk.stabilization.maxHipOffsetBasedOnStepLength.x=5
walk.stabilization.maxHipOffsetBasedOnStepLength.y=0
walk.stabilization.rotationD.x=0
walk.stabilization.rotationD.y=0
walk.stabilization.rotationP.x=-0.05
walk.stabilization.rotationP.y=-0.9
walk.stabilization.rotationStabilize=true
walk.stabilization.rotationStabilizeNewIMU=false
walk.stabilization.rotationStabilizeRC16=false
walk.stabilization.rotationVelocityP.x=0.02
walk.stabilization.rotationVelocityP.y=0.01
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.step.doubleSupportTime=0
walk.step.duration=260
walk.step.splineFootTrajectory=true
walk.step.stepHeight=21
<commit_msg>even better params<commit_after>[IKParameters]
arm.alwaysEnabled=false
arm.inertialModelBasedMovement.shoulderPitchInterialSensorRate=-10
arm.inertialModelBasedMovement.shoulderRollInterialSensorRate=-10
arm.kickEnabled=true
arm.maxSpeed=120
arm.shoulderPitchInterialSensorRate=-10
arm.shoulderRollInterialSensorRate=-10
arm.synchronisedWithWalk.elbowRollRate=0.5
arm.synchronisedWithWalk.shoulderPitchRate=0.5
arm.synchronisedWithWalk.shoulderRollRate=0.5
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.bodyPitchOffset=0.2
stand.enableStabilization=true
stand.enableStabilizationRC16=false
stand.hipOffsetX=25
stand.relax.allowedDeviation=5
stand.relax.allowedRotationDeviation=5
stand.relax.enable=true
stand.relax.jointOffsetTuning.currentThreshold=0.3
stand.relax.jointOffsetTuning.deadTime=1000
stand.relax.jointOffsetTuning.enable=true
stand.relax.jointOffsetTuning.minimalJointStep=0.00139626
stand.relax.stiffnessControl.deadTime=100
stand.relax.stiffnessControl.enable=true
stand.relax.stiffnessControl.maxAngle=2
stand.relax.stiffnessControl.maxStiffness=1
stand.relax.stiffnessControl.minAngle=0.08
stand.relax.stiffnessControl.minStiffness=0.3
stand.relax.timeBonusForCorrection=1000
stand.speed=0.04
stand.stiffness=0.7
walk.general.bodyPitchOffset=0.1
walk.general.hipOffsetX=20
walk.general.hipRollSingleSupFactorLeft=0.6
walk.general.hipRollSingleSupFactorRight=0.6
walk.general.stiffness=1.0
walk.general.stiffnessArms=0.7
walk.general.useArm=true
walk.hip.ZMPOffsetY=-7
walk.hip.ZMPOffsetYByCharacter=0
walk.hip.comHeight=260
walk.hip.comHeightOffset=0.18
walk.hip.comRotationOffsetX=0
walk.hip.comStepOffsetY=0
walk.hip.newZMP_ON=true
walk.hip.newZMP_offset=0.8
walk.hip.newZMP_width=0.4
walk.kick.ZMPOffsetY=-7
walk.kick.stepHeight=30
walk.limits.maxCtrlLength=80
walk.limits.maxCtrlTurn=30
walk.limits.maxCtrlWidth=50
walk.limits.maxStepChange=0.3
walk.limits.maxStepLength=60
walk.limits.maxStepLengthBack=35
walk.limits.maxStepTurn=30
walk.limits.maxStepWidth=60
walk.limits.maxTurnInner=10
walk.stabilization.dynamicStepsize=true
walk.stabilization.dynamicStepsizeD=0.05
walk.stabilization.dynamicStepsizeP=-0.1
walk.stabilization.emergencyStopError=100
walk.stabilization.hipOffsetBasedOnStepChange.x=0
walk.stabilization.hipOffsetBasedOnStepChange.y=0
walk.stabilization.maxHipOffsetBasedOnStepLength.x=5
walk.stabilization.maxHipOffsetBasedOnStepLength.y=0
walk.stabilization.rotationD.x=0
walk.stabilization.rotationD.y=0
walk.stabilization.rotationP.x=-0.05
walk.stabilization.rotationP.y=-0.9
walk.stabilization.rotationStabilize=true
walk.stabilization.rotationStabilizeNewIMU=false
walk.stabilization.rotationStabilizeRC16=false
walk.stabilization.rotationVelocityP.x=0.02
walk.stabilization.rotationVelocityP.y=0.01
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.step.doubleSupportTime=0
walk.step.duration=260
walk.step.splineFootTrajectory=true
walk.step.stepHeight=21
walk.zmp.bezier.inFootScalingY=1
walk.zmp.bezier.inFootSpacing=10
walk.zmp.bezier.offsetX=20
walk.zmp.bezier.offsetY=-5
walk.zmp.bezier.offsetYForKicks=0
walk.zmp.bezier.transitionScaling=0.6
walk.zmp.bezier2.offsetT=0
walk.zmp.bezier2.offsetY=0

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