Articulations is an advanced, hierarchic mode of joints, useful for creating hierarchical mechanisms such as a vehicle or a robot. To use articulations, one should organize the joints of a mechanism and the objects they connect into a tree structure. For example, to create an articulated wheelbarrow, one would create the body (tray) object, which would have a child revolute joint for the wheel axis, and the joint would have a child wheel body. Articulated joint links parts starting from the articulation root to the last chained connection. The top tree wrapper should have ArticulationAPI in order to work correctly in the future.