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Why joints have only one pose?

I noticed that in a joint we can only specify an attachment offset for a child. For parent the attachment of the joint seems to be always in the parent's frame origin. Why is that so? Is it useless to have parent offset? Is the length/offset/distance of a newly created joint determined at the moment of it's creation?

I'm working with SDF 1.4 and trying to make joints dynamically from a plugin.