private static SphericalJointBasics cloneSphericalJoint(SphericalJointReadOnly original, String cloneSuffix, RigidBodyBasics clonePredecessor, JointBuilder jointBuilder) { String jointNameOriginal = original.getName(); RigidBodyTransform jointTransform = getCloneJointTransformToParent(original); return jointBuilder.buildSphericalJoint(jointNameOriginal + cloneSuffix, clonePredecessor, jointTransform); }