FET022 Driven Joints

Actively driven joints follow their commands within their declared limits.

Overview

This family commands the asset’s driven joints and confirms they reach their targets, respect their velocity and effort limits, honor mimic relationships, coordinate across multiple joints, and support inverse-kinematics reach. The tests cover every aspect of joint authoring that determines whether an articulated asset is controllable at runtime: drive gains, state accuracy, limit enforcement, parallel linkage coupling, simultaneous coordination, and end-effector IK.

What a Passing Family Means

A reviewer, PM, or OEM can trust that the asset’s joint drives, limits, and mimic relationships are authored correctly so the articulation is controllable. The same reviewer can rely on the family to confirm that the robot or articulated tool will follow commanded trajectories in simulation, respect the declared velocity and effort ceilings, and expose a usable IK interface for manipulation planning.

Tests

Test	What It Checks	Validates
full_range_sweep	Commands each joint across its full declared range and confirms it follows.	FET022_DRIVEN_JOINTS_PHYSX, FET022_DRIVEN_JOINTS_ISAAC
velocity_limit	Confirms a joint does not exceed its declared velocity limit.	FET022_DRIVEN_JOINTS_PHYSX, FET022_DRIVEN_JOINTS_ISAAC
effort_limit	Confirms a joint respects its declared effort limit under external force.	FET022_DRIVEN_JOINTS_PHYSX, FET022_DRIVEN_JOINTS_ISAAC
drive_gain_validation	Confirms the joint drive gains produce stable, low-overshoot tracking.	FET022_DRIVEN_JOINTS_PHYSX, FET022_DRIVEN_JOINTS_ISAAC
state_accuracy	Confirms reported joint state matches commanded state across a waypoint sequence.	FET022_DRIVEN_JOINTS_PHYSX, FET022_DRIVEN_JOINTS_ISAAC
mimic_joint	Confirms mimic joints follow their reference joint by the declared gear ratio.	FET022_DRIVEN_JOINTS_PHYSX, FET022_DRIVEN_JOINTS_ISAAC
multi_joint_coordination	Confirms multiple joints reach their targets simultaneously without interference.	FET022_DRIVEN_JOINTS_PHYSX, FET022_DRIVEN_JOINTS_ISAAC
ik_target_reach	Confirms the end effector reaches commanded poses using the Lula IK solver.	FET022_DRIVEN_JOINTS_PHYSX, FET022_DRIVEN_JOINTS_ISAAC
jacobian_ik	Confirms Jacobian-based IK converges to FK-sampled targets without a Lula descriptor.	FET022_DRIVEN_JOINTS_PHYSX, FET022_DRIVEN_JOINTS_ISAAC

Relationship to the Feature

This family validates the runtime behavior described by FET022 Driven Joints.