====== FootIKParam ======
===== Fields =====
^ Field ^ Type ^ Offset ^ Description ^ Notes ^
| onOffHokanTime | ''f32'' | ''0x0'' | Determines the interpolation time when IK is toggled on and off. |  |
| onOffGain | ''f32'' | ''0x4'' | Determines the amount of gain applied when IK is toggled on and off. |  |
| groundAscendingGain | ''f32'' | ''0x8'' | Determines the amount of gain applied when the ground height increases. |  |
| groundDescendingGain | ''f32'' | ''0xc'' | Determines the amount of gain applied when the ground height decreases. |  |
| footRaisedGain | ''f32'' | ''0x10'' | Determines the amount of gain applied when a foot is raised. |  |
| footPlantedGain | ''f32'' | ''0x14'' | Determines the amount of gain applied when a foot is planted to the ground. |  |
| footLockingGain | ''f32'' | ''0x18'' | Determines the amount of gain applied when a foot is locked or unlocked. |  |
| ankleRotationGain | ''f32'' | ''0x1c'' | Determines the amount of gain applied when an ankle is rotating. |  |
| twistKneeAxisType | ''u8'' | ''0x20'' | Axial direction that ignores rotation of the knee joint for twisting. | This field uses the following enum: IK_KNEE_AXIS_TYPE |
| footPlacementOn | ''u8'' | ''0x21 [0]'' | If ON, foot placement is active. | This field is a boolean. |
| isSlopeSlideOffset | ''u8'' | ''0x21 [1]'' | If ON, apply slope offset adjustment when sliding down a slope. | This field is a boolean. |
| pad2 | ''dummy8'' | ''0x21 [2-7]'' |  | This field is padding. |
| pad3 | ''dummy8'' | ''0x22'' |  | This field is padding. |
| forwardUndulationRate | ''f32'' | ''0x24'' | Specifies the amount of front/back lean against the slope when the slope is tilted. |  |
| sideUndulationRate | ''f32'' | ''0x28'' | Specifies the amount of right/left lean against the slope when the slope is tilted. |  |
| undulationGain | ''f32'' | ''0x2c'' | The gain value used for tilting the slope when the slope is tilted. |  |
| pad4 | ''dummy8'' | ''0x30'' |  | This field is padding. |



===== Enums =====


==== IK_KNEE_AXIS_TYPE ====
^ Option ^ Description ^ Notes ^
| ''0'' | + X | |
| ''1'' | + Y | |
| ''2'' | + Z | |
| ''3'' | - X | |
| ''4'' | - Y | |
| ''5'' | - Z | |