removeInitialGuessVariables(ks,ids) drops from the KinematicsSolver object ks the guess variables named in ids. Guess variables provide a starting point for the solution of a kinematic problem and serve to bias the solver toward one of equally plausible alternatives when several exist. Use this function to remove just one or a few guess variables if they become obsolete.

The output is an updated table with the guess variables—those that remain—in rows. Each row gives the ID of a variable, the type and block path of the joint to which it belongs if a joint variable, the base and follower frames from which it spawns if a frame variable, and the unit for its numerical value. The variables rank in the order added.

Most variables can be assigned individually. A few must be assigned in groups—axis components alongside rotation angle in spherical primitives; bend angle alongside azimuth angle in constant-velocity primitives. (A bend angle can be assigned individually but the azimuth angle cannot.)