Copied the parameters of hand_retargeting in joypad_control to reduce vibrations while walking.

Author: iCubGenova04

src/WalkingModule/app/robots/iCubGenova04/dcm_walking/joypad_control/plannerParams.ini

@@ -1,5 +1,5 @@
 ##Timings
-plannerHorizon          10.0
+plannerHorizon          5.0
 
 ##Unicycle Related Quantities
 unicycleGain            10.0
@@ -10,28 +10,28 @@ slowWhenTurningGain     5.0
 
 ##Bounds
 #Step length
-maxStepLength           0.23
-minStepLength           0.05
+maxStepLength           0.20
+minStepLength           0.02
 #Width
-minWidth                0.14
+minWidth                0.15
 #Angle Variations in DEGREES
 #maxAngleVariation       12.0
-maxAngleVariation       10.0
+maxAngleVariation       20.0
 minAngleVariation       8.0
 #Timings
-maxStepDuration         1.0
-minStepDuration         0.8
+maxStepDuration		0.85
+minStepDuration         0.75
 
 ##Nominal Values
 #Width
 nominalWidth            0.16
 #Height
-stepHeight              0.025
-stepLandingVelocity     0.0
+stepHeight              0.02
+stepLandingVelocity     0.00
 footApexTime            0.8
-comHeightDelta          0.01
+comHeightDelta          0.0
 #Timings
-nominalDuration         0.9
+nominalDuration         0.8
 lastStepSwitchTime      0.8
 switchOverSwingRatio    0.7
 
@@ -49,11 +49,12 @@ lastStepDCMOffset      0.25
 mergePointRatio         0.4
 
 # pitch delta
-pitchDelta		0.0
+# pitchDelta            -3.0
+#pitchDelta             0.0
 
 ##Should be the first step with the left foot?
 swingLeft               1
 startAlwaysSameFoot     1
 
 ##Remove this line if you don't want to use the minimum jerk trajectory in feet interpolation
-# useMinimumJerkFootTrajectory    1
+#useMinimumJerkFootTrajectory    1