---
title: SkeletonResource.Joint
framework: realitykit
role: symbol
role_heading: Structure
path: realitykit/skeletonresource/joint
---

# SkeletonResource.Joint

Describes a single joint of a Skeleton

## Declaration

```swift
struct Joint
```

## Overview

Overview Joints form the hierarchical structure of a skeleton. Each joint has a unique name, a rest pose transform relative to its parent, and an optional list of child joints. The hierarchy is expressed through nesting using the JointBuilder result builder. typealias Joint = SkeletonResource.Joint // Create a simple arm hierarchy let arm = try Joint("shoulder") {     try Joint("upperArm", restPoseTransform: Transform(translation: [0, -0.3, 0])) {         try Joint("forearm", restPoseTransform: Transform(translation: [0, -0.3, 0]))     } }

## Topics

### Creating a joint

- [init(_:restPoseTransform:children:)](realitykit/skeletonresource/joint/init(_:restposetransform:children:).md)

### Inspecting a joint

- [id](realitykit/skeletonresource/joint/id.md)
- [restPoseTransform](realitykit/skeletonresource/joint/restposetransform.md)
- [children](realitykit/skeletonresource/joint/children.md)

### Instance Properties

- [name](realitykit/skeletonresource/joint/name.md)

## Relationships

### Conforms To

- [Identifiable](swift/identifiable.md)

## See Also

### Defining the joint hierarchy

- [rootJoint](realitykit/skeletonresource/rootjoint.md)
- [SkeletonResource.JointBuilder](realitykit/skeletonresource/jointbuilder.md)