[ODE] Articulated objects

[Jose Marin]

Hi! 

I need to create some articulated objects, like robots arms. 
It will have a body, an arm, an forearm and a claw and the joints shoulder, elbow and wrist. 
Each parte can rotate. 
If I move the arm (rotating the shoulder?), the forarm and the claw must move too, but keeping their relative position. 
What kind of joint must I use, and how I connect the parts? 

Thanks!

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