Joint Manifest Schema

Every joint in the CORA library is defined by a manifest.json. This file is the contract between the configurator, the export pipeline, and the physical build instructions.

Top-level fields

Field	Type
id	string	required Unique joint type identifier. Used as the folder name.
display_name	string	required Human-readable label in the configurator.
type	enum	required revolute | prismatic | fixed
axis	[x, y, z]	required Joint axis vector. REP-103: metres.
limits	object	required Position, velocity, and effort limits.
params	object	optional Joint-type-specific parameters.
connectors	object	optional Electrical connector layout.
mesh	object	required Paths to visual and collision meshes.

Example manifest

{
  "id": "revolute_80mm",
  "display_name": "Revolute 80 mm",
  "type": "revolute",
  "axis": [0, 0, 1],
  "limits": {
    "lower": -3.14159,
    "upper":  3.14159,
    "velocity": 1.5,
    "effort":   10.0
  },
  "params": {
    "gear_ratio": 50,
    "motor_model": "T-Motor AK10-9",
    "housing_diameter_mm": 80
  },
  "connectors": {
    "power_in":  "XT60_panel",
    "power_out": "XT60_panel",
    "can_in":    "M12_A5_bulkhead",
    "can_out":   "M12_A5_bulkhead"
  },
  "mesh": {
    "visual":    "mesh.dae",
    "collision": "mesh_collision.stl"
  }
}