Im trying to rig a robotic arm and i want it to do a nukber of things. 1. Rotate around a pivot at the shoulder 2. Move away and towards the body using a telescopic-like joint. 3 use the same sort of joint to extend its arm forwards Any help with this would be appreciated and also how i would easily return it to a default pose also. I have included a diagram to show you what i want it to do. Thanks, Ben