Kinematic_Joint
Mapped https://mapped.com/schema/mapped/1.0/openusd#Kinematic_Joint
Abstract. A physical joint between two components of an assembly, carrying the axis and limits of its motion. Subclassed per joint kind because a prismatic joint's limits are linear and a revolute joint's are angular, so the unit is fixed by the class rather than requiring the USD layer to be resolved. The corresponding OpenUSD physics joint prim is attached with hasPrimBinding, and joint state is reported through mapped:hasPoint.
Hierarchy
Parent classes: OpenUSD_Concept
Subclasses (2):
Facts
| Fact | Value |
|---|---|
| URI | https://mapped.com/schema/mapped/1.0/openusd#Kinematic_Joint |
| Source | Mapped |
| Protobuf | KINEMATIC_JOINT |
| Deprecated | No |
Properties
| Property | Type | Required | Default | Description |
|---|---|---|---|---|
coordinateFrameId | string | Opaque reference into the external coordinate frame registry, matching the Frame_Geometry decision that frames resolve outside the Mapped graph. On a Representation it is optional: absent means the subject entity's own frame. | ||
description | string | |||
jointAxis | Array<double> | Yes | Axis of motion in the joint's local coordinate system, as a three-element unit vector. Exactly three values. The vector's sign carries the direction of positive travel, so a separate rotation-sign property is neither needed nor permitted: a wheel that turns the other way is authored as a negated axis. | |
name | string |
exactType is Kinematic_Joint or the name of one of its subclasses (3 values).
Inherited properties (5)
| Property | Type | Required | Default | Description |
|---|---|---|---|---|
connectorIds | Array<string> | The ids of the connectors associated with the entity. | ||
dateCreated | dateTime | Datetime when it is created. | ||
dateUpdated | dateTime | Datetime when it is updated last time. | ||
id | string | Yes | A globally unique ID in Mapped services. | |
organizationId | string | Yes | The id of the organization that owns the entity. |
Relationships
| Relationship | Targets | Inverse | Cardinality | Notes |
|---|---|---|---|---|
hasJointChild | Thing | isJointChildOf | 0..1 | transitive, canonical The component the joint moves relative to the parent. |
hasJointParent | Thing | isJointParentOf | 0..1 | transitive, canonical The component the joint holds fixed, against which the child moves. |
hasPoint | Point | isPointOf | 0..* | transitive, canonical |
hasPrimBinding | OpenUSD_Prim_Binding | isPrimBindingOf | 0..* | transitive, canonical Attaches a prim address. Used directly on an entity for pure addressing that carries no physical claim, and on a Representation or level-of-detail heuristic to realise it in USD. |
isJointOf | Thing | hasJoint | 0..* | The assembly this joint belongs to. |
Inherited relationships (1)
| Relationship | Targets | Inverse | Cardinality | Notes |
|---|---|---|---|---|
contributesProperty | Meta | hasPropertyContributedFrom | 0..* | transitive, canonical Mapped's internal relationship indicating that a vertex is contributing a property/value to another vertex. |
Referenced by
Classes whose own relationships point at Kinematic_Joint.
- hasJoint (1): Thing
- isJointChildOf (1): Thing
- isJointParentOf (1): Thing
- isPrimBindingOf (1): OpenUSD_Prim_Binding
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