openjoint

OpenJoint is an open-source software library designed to support the modeling, simulation, and control of articulated mechanical systems, commonly used in robotics and biomechanics. It provides a framework for representing joints, links, and kinematic chains, enabling researchers and developers to model complex manipulators and their motion.

Core capabilities include representation of joints such as revolute, prismatic, and spherical types, as well as links and multi-link configurations. The library supports forward and inverse kinematics, Jacobian calculations, and basic dynamics interfaces, with an emphasis on a consistent data model that facilitates integration across simulation, planning, and control workflows.

OpenJoint offers a modular core with bindings for multiple programming languages, notably C++ and Python. It supports common formats such as URDF and can integrate with popular robotics ecosystems, including ROS and Gazebo. The project also includes visualization utilities, unit tests, and a plugin mechanism for extending functionality with custom joint types or solvers.

Typical applications span academic research, robotics education, and rapid prototyping of manipulators. Users employ OpenJoint for reachability analysis, trajectory generation, and comparative evaluation of control strategies, as well as for validating algorithms in a simulated environment before deployment on physical hardware.

Development of OpenJoint is community-driven, with code hosted on public repositories and documentation maintained by volunteers. The project is distributed under an open-source license, and contributions are encouraged through issue trackers, pull requests, and discussion forums to foster collaboration and ongoing improvement.