@type t() :: %BB.Dsl.Joint{
  __identifier__: any(),
  __spark_metadata__: Spark.Dsl.Entity.spark_meta(),
  actuators: [BB.Dsl.Actuator.t()],
  axis: nil | BB.Dsl.Axis.t(),
  dynamics: nil | BB.Dsl.Dynamics.t(),
  limit: nil | BB.Dsl.Limit.t(),
  link: BB.Dsl.Link.t(),
  name: atom(),
  origin: nil | BB.Dsl.Origin.t(),
  sensors: [BB.Dsl.Sensor.t()],
  type: :revolute | :continuous | :prismatic | :fixed | :floating | :planar
}