# 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

  classmethod `bl_rna_get_subclass`(id, default=None)

    Parameters: | id (string) – The RNA type identifier.
    Returns: | The RNA type or default when not found.
    Return type: | `bpy.types.Struct` subclass

  classmethod `bl_rna_get_subclass_py`(id, default=None)

    Parameters: | id (string) – The RNA type identifier.
    Returns: | The class or default when not found.
    Return type: | type

Inherited Properties

`bpy_struct.id_data` | `IKParam.ik_solver`

Inherited Functions

`bpy_struct.as_pointer` `bpy_struct.driver_add` `bpy_struct.driver_remove` `bpy_struct.get` `bpy_struct.is_property_hidden` `bpy_struct.is_property_overridable_library` `bpy_struct.is_property_readonly` `bpy_struct.is_property_set` `bpy_struct.items` `bpy_struct.keyframe_delete` | `bpy_struct.keyframe_insert` `bpy_struct.keys` `bpy_struct.path_from_id` `bpy_struct.path_resolve` `bpy_struct.pop` `bpy_struct.property_overridable_library_set` `bpy_struct.property_unset` `bpy_struct.type_recast` `bpy_struct.values`