Itasc(IKParam)¶
base classes — bpy_struct
, IKParam
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class
bpy.types.
Itasc
(IKParam)¶ Parameters for the iTaSC IK solver
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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
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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
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feedback
¶ Feedback coefficient for error correction, average response time is 1/feedback (default=20)
Type: float in [0, 100], default 0.0
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iterations
¶ Maximum number of iterations for convergence in case of reiteration
Type: int in [0, 1000], default 0
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mode
¶ ANIMATION
Animation, Stateless solver computing pose starting from current action and non-IK constraints.SIMULATION
Simulation, State-full solver running in real-time context and ignoring actions and non-IK constraints.
Type: enum in [‘ANIMATION’, ‘SIMULATION’], default ‘ANIMATION’
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precision
¶ Precision of convergence in case of reiteration
Type: float in [0, 0.1], default 0.0
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reiteration_method
¶ Defines if the solver is allowed to reiterate (converge until precision is met) on none, first or all frames
NEVER
Never, The solver does not reiterate, not even on first frame (starts from rest pose).INITIAL
Initial, The solver reiterates (converges) on the first frame but not on subsequent frame.ALWAYS
Always, The solver reiterates (converges) on all frames.
Type: enum in [‘NEVER’, ‘INITIAL’, ‘ALWAYS’], default ‘NEVER’
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solver
¶ Solving method selection: automatic damping or manual damping
SDLS
SDLS, Selective Damped Least Square.DLS
DLS, Damped Least Square with Numerical Filtering.
Type: enum in [‘SDLS’, ‘DLS’], default ‘SDLS’
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step_count
¶ Divide the frame interval into this many steps
Type: int in [1, 50], default 0
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step_max
¶ Higher bound for timestep in second in case of automatic substeps
Type: float in [0, 1], default 0.0
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step_min
¶ Lower bound for timestep in second in case of automatic substeps
Type: float in [0, 0.1], default 0.0
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use_auto_step
¶ Automatically determine the optimal number of steps for best performance/accuracy trade off
Type: boolean, default False
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velocity_max
¶ Maximum joint velocity in rad/s (default=50)
Type: float in [0, 100], default 0.0
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Inherited Properties
Inherited Functions