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 :func:`mask_fbase() ` method: .. code-block:: python # 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 :func:`mask_dof() ` and :func:`unmask_dof() ` methods: .. code-block:: python # 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")