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# init(name:parentID:restTransform:)

Creates a joint with the provided base elements.

```
init(name: String, parentID: IKRig.Joint.ID? = nil, restTransform: Transform = .identity)
```

## Parameters

`name`

The name of the new joint.

`parentID`

The name of the parent joint if there is one.

`restTransform`

The offset of this joint from its parent (local space).

---

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