Physics Driven Joints#
This capability enables physics-driven joint simulation for articulated bodies and robotic mechanisms.
Summary#
Physics driven joints provide the ability to simulate articulated mechanisms with controlled motion, enabling realistic robot simulation and complex multi-body dynamics.
Schema / OpenUSD Specification#
Driven joints are created using USD Physics joint schemas with additional drive
APIs and, for runtimes that require them, state or solver-specific attributes.
MuJoCo-driven joints keep the topology in standard UsdPhysics.Joint prims and
use MjcJointAPI plus MjcActuator prims for runtime-specific actuation data.