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
Inherited Functions
|
