private string getJointMasses(Joint j)
{
bool hasMass = false;
string ret = string.Empty;
for (int i=0; i<6; i++)
{
if (j.Masses[i] != 0)
hasMass = true;
ret += j.Masses[i].ToString("F") + ", ";
}
if (hasMass)
return ret.Substring(0, ret.Length - 2);
else
return string.Empty;
}