int id = in.readInt();
String name = in.readUTF();
Joint j = new Joint(new CoordinateSystem(in), null, name);
joint[i] = j;
j.id = id;
j.angle1 = j.new DOF(in);
j.angle2 = j.new DOF(in);
j.twist = j.new DOF(in);
j.length = j.new DOF(in);
j.length.loop = false;
parentID[i] = in.readInt();
childID[i] = new int [in.readInt()];
for (int k = 0; k < childID[i].length; k++)
childID[i][k] = in.readInt();