PROTO Joint [
    exposedField  SFVec3f     center            0 0 0
    exposedField  MFNode      children          []
    exposedField  MFFloat     llimit            []
    exposedField  SFRotation  limitOrientation  0 0 1 0
    exposedField  SFString    name              ""
    exposedField  SFRotation  rotation          0 0 1 0
    exposedField  SFVec3f     scale             1 1 1
    exposedField  SFRotation  scaleOrientation  0 0 1 0
    exposedField  MFFloat     stiffness         [0 0 0]
    exposedField  SFVec3f     translation       0 0 0
    exposedField  MFFloat     ulimit            []
  ]
  {
    Transform {
      center           IS center
      children         IS children
      rotation         IS rotation
      scale            IS scale
      scaleOrientation IS scaleOrientation
      translation      IS translation
    }
  }