Interface Joint

Primary axis; origin is the anchor every rotation DOF pivots about.

All drivable degrees of freedom, in composition order.

Primary-DOF range bounds (mirror of dofs[0]).

Optional fixed transform applied to the child frame after the joint motion (childWorld = parentWorld ∘ jointTransform ∘ offset). Lets a single joint carry a static link offset (e.g. a Denavit-Hartenberg link geometry) without an extra body. Defaults to identity. See jointsFromDH.

Reference body (stays put); the child moves relative to it.

Primary-DOF value (mirror of dofs[0]), always clamped to [min, max].