Itasc(IKParam)

base classes — bpy_struct, IKParam

class bpy.types.Itasc(IKParam)

Parameters for the iTaSC IK solver

damping_epsilon

Singular value under which damping is progressively applied. Higher values=more stability, less reactivity. Default=0.1

Type :float in [0, 1], default 0.0
damping_max

Maximum damping coefficient when singular value is nearly 0. Higher values=more stability, less reactivity. Default=0.5

Type :float in [0, 1], default 0.0
feedback

Feedback coefficient for error correction. Average response time=1/feedback. Default=20

Type :float in [0, 100], default 0.0
iterations

Maximum number of iterations for convergence in case of reiteration

Type :int in [1, 1000], default 0
mode
Type :enum in [‘ANIMATION’, ‘SIMULATION’], default ‘ANIMATION’
precision

Precision of convergence in case of reiteration

Type :float in [0, 0.1], default 0.0
reiteration_method

Defines if the solver is allowed to reiterate (converges until precision is met) on none, first or all frames

Type :enum in [‘NEVER’, ‘INITIAL’, ‘ALWAYS’], default ‘NEVER’
solver

Solving method selection: Automatic damping or manual damping

Type :enum in [‘SDLS’, ‘DLS’], default ‘SDLS’
step_count

Divides the frame interval into this many steps

Type :int in [1, 50], default 0
step_max

Higher bound for timestep in second in case of automatic substeps

Type :float in [0, 1], default 0.0
step_min

Lower bound for timestep in second in case of automatic substeps

Type :float in [0, 0.1], default 0.0
use_auto_step

Automatically determine the optimal number of steps for best performance/accuracy trade off

Type :boolean, default False
velocity_max

Maximum joint velocity in rad/s. Default=50

Type :float in [0, 100], default 0.0

Inherited Properties

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