Function arm_assembly 

pub fn arm_assembly() -> Program

The assembly of arm: three links (link.geop, link) — the first fixed, each next one hinged on the far end of the one before by a revolute joint (see [hinged]), the elbow turning at most 150° either way, the wrist 120°. Its state sets the joints — 30° and -45° — and puts the links where those joints have them.