[JAVA3D] help me ... please: how to move...

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I'd like to write a program in java3D.   I'd like to build something like the picture in site: http://www.edicolainrete.com/fig.gif   something like a simple robot: tre arms that I can move up and down. I can rotate all the arm togeter. at the end there is a light.     how can I do?!?   Thank you in advance, Mario.