---
title: "init(name:parentID:restTransform:)"
framework: realitykit
role: symbol
role_heading: Initializer
path: "realitykit/ikrig/joint/init(name:parentid:resttransform:)"
---

# init(name:parentID:restTransform:)

Creates a joint with the provided base elements.

## Declaration

```swift
init(name: String, parentID: IKRig.Joint.ID? = nil, restTransform: Transform = .identity)
```

## Parameters

- `name`: The name of the new joint.
- `parentID`: The name of the parent joint if there is one.
- `restTransform`: The offset of this joint from its parent (local space).