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