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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 is 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 [0, 1000], default 0
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’
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 (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’
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’
step_count

Divide 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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