# Base Articulation

This capability enables articulation root configurations for robots

## Summary 

An articulation is a single actor comprising a set of links (each of which behaves like a rigid body) connected together with special joints. Every articulation has a tree-like structure - so there can be no loops or breaks. 

# Implementation

{doc}`Full Requirements List <requirements>`

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

requirements
```
