---
title: IKRig.Joint
framework: realitykit
role: symbol
role_heading: Structure
path: realitykit/ikrig/joint
---

# IKRig.Joint

A definition of a rig joint and its IK solver settings.

## Declaration

```swift
struct Joint
```

## Topics

### Structures

- [IKRig.Joint.ID](realitykit/ikrig/joint/id-swift.struct.md)
- [IKRig.Joint.LimitsDefinition](realitykit/ikrig/joint/limitsdefinition.md)

### Initializers

- [init(name:parentID:restTransform:)](realitykit/ikrig/joint/init(name:parentid:resttransform:).md)

### Instance Properties

- [active](realitykit/ikrig/joint/active.md)
- [fkWeightPerAxis](realitykit/ikrig/joint/fkweightperaxis.md)
- [id](realitykit/ikrig/joint/id-swift.property.md)
- [limits](realitykit/ikrig/joint/limits.md)
- [name](realitykit/ikrig/joint/name.md)
- [parentID](realitykit/ikrig/joint/parentid.md)
- [restTransform](realitykit/ikrig/joint/resttransform.md)
- [rotationStiffness](realitykit/ikrig/joint/rotationstiffness.md)

## Relationships

### Conforms To

- [Identifiable](swift/identifiable.md)

## See Also

### Inverse kinematics rigs

- [IKRig](realitykit/ikrig.md)
- [IKRig.JointCollection](realitykit/ikrig/jointcollection.md)
- [IKRig.Constraint](realitykit/ikrig/constraint.md)
- [IKRig.ConstraintsCollection](realitykit/ikrig/constraintscollection.md)