arm thing using simplified inverse kinematics i think?data:image/png;base64,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:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAeAAAAFoCAYAAACPNyggAAAOhUlEQVR4Xu3VwQkAAAjEMN1/abewn7jAQRC64wgQIECAAIF3gX1fNEiAAAECBAiMAHsCAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQICLAfIECAAAECgYAAB+gmCRAgQICAAPsBAgQIECAQCAhwgG6SAAECBAgIsB8gQIAAAQKBgAAH6CYJECBAgIAA+wECBAgQIBAICHCAbpIAAQIECAiwHyBAgAABAoGAAAfoJgkQIECAgAD7AQIECBAgEAgIcIBukgABAgQIHLFxAWmhEwHPAAAAAElFTkSuQmCCNaN78