So how we know when to create joints, where, and what rotation?
I could be semi-automatic, user assisted process... KODE parses through the boned model, comes across a bone named "whatever", and asks the user (using checkboxes or something similar) if there should be a joint in a, b or a+b (a being start of the bone, b the end) and below that what type, and depending the type what rotation axis to have. Same type of thing could be used for bone properties... and with few clicks you have a perfect KODE physics object ready for .bb exporting no matter how many arms it has!