Masking joints

By default, all the joints can be used by the solver, which includes the floating base, that is the pose of the robot in the world. You can decide to mask some joints that will be constrained not to move.

Masking floating base

To freeze the floating base, you can use the mask_fbase() method:

# Masks the floating base (i.e. the pose of the robot in the world)
# this should be done for fixed-base robots
solver.mask_fbase(True)

Masking custom joints

For all the other joints, you can use the mask_dof() and unmask_dof() methods:

# The head_yaw will not be allowed to move while solving
solver.mask_dof("head_yaw")

# Unmask the head_yaw, it will be allowed to move while solving
solver.unmask_dof("head_yaw")