# Requirements

## Summary

Physics driven joints enable controlled simulation of articulated mechanisms through joint drives and state management.

## Requirements

```{toctree}
:maxdepth: 1
:hidden:

requirements/physics-drive-and-joint-state
requirements/joint-has-joint-state-api
requirements/joint-has-correct-transform-and-state
requirements/physics-joint-has-drive-or-mimic-api
requirements/physics-joint-max-velocity
requirements/drive-joint-value-reasonable
requirements/mimic-api-check
requirements/robot-schema-joint-exist
requirements/robot-schema-links-exist
requirements/check-robot-relationships
requirements/no-articulation-loops
```
