//build the robot arm
polyCube -w 1 -h 10 -d 1 -n armsection;
move -r 0 4 0;
polyCylinder -r 1.5 -h 1.5 -sx 20 -sy 1 -sz 1 -ax 0 0 1 -tx 1 -ch 1 -n shoulder;
parent armsection shoulder;
duplicate shoulder;
rename shoulder1 elbow;
move  -r 0 9 0 elbow;
parent elbow shoulder;

polyCreateFacet -ch on -tx 1 -s 1 -p 0 0 0 -p 0 1 0 -p -2.008728 2.237426 0 
-p -1.987394 3.538813 0 -p -1 4 0 -p 0 4 0 -p 0 5 0 -p -1 5 0 
-p -3.011436 4.285511 0 -p -3 2 0 -p -1.091357 0.552023 0 -p -1 0 0 ;

polyExtrudeFacet -ch 1 -kft 0 -pvx -1.5 -pvy 2.763820857 -pvz 0 
-tx 0 -ty 0 -tz 0 -rx 0 -ry 0 -rz 0 -sx 1 -sy 1 -sz 1 -ran 0 
-divisions 1 -twist 0 -taper 1 -off 0 -ltz 0 -ws 0 -ltx 0 -lty 0 
-lrx 0 -lry 0 -lrz 0 -lsx 1 -lsy 1 -lsz 1 -ldx 1 -ldy 0 -ldz 0 -w 0 
-gx 0 -gy -1 -gz 0 -att 0 -mx 0 -my 0 -mz 0 polySurface1.f[0];

setAttr "polyExtrudeFace1.localTranslate" -type double3 0 0 0.573195 ; 

select polySurface1;
move -r 0 0 -0.25;
duplicate -rr; scale -r -1 1 1;
rename polySurface1 gripper1;
rename polySurface2 gripper2;
polyCylinder -r 1.5 -h 1.5 -sx 20 -sy 1 -sz 1 -ax 0 0 1 -tx 1 -ch 1 -n wrist_bend;
move 0 -1.5 0;
polyCylinder -r 2 -h 1 -sx 20 -sy 1 -sz 1 -ax 0 1 0 -tx 1 -ch 1 -n wrist_twist;
move 0 -0.4 0;
parent gripper1 gripper2 wrist_twist;
parent wrist_twist wrist_bend ;
move -r 0 20 0 wrist_bend;
parent wrist_bend elbow;
move 0 1.5 0 shoulder;
polyCylinder -r 3 -h 1 -sx 20 -sy 1 -sz 1 -ax 0 1 0 -tx 1 -ch 1 -n base;
parent shoulder base;
move 0 0.5 0 base;
select -cl;

// create a set driven key
setDrivenKeyframe -cd gripper1.rotateZ gripper2.rotateZ;
setAttr "gripper1.rotateZ" 35;
setAttr "gripper2.rotateZ" -35;
setDrivenKeyframe -cd gripper1.rotateZ gripper2.rotateZ;

// set rotation limits on gripper
transformLimits -rz 0 35 -erz 1 1 gripper1;

//lock off channels for manips
setAttr -lock true "base.rx";
setAttr -lock true "base.rz";
setAttr -lock true "base.scale";
setAttr -lock true "shoulder.translate"; 
setAttr -lock true "shoulder.rx";
setAttr -lock true "shoulder.ry";
setAttr -lock true "shoulder.scale";
setAttr -lock true "elbow.translate"; 
setAttr -lock true "elbow.rx";
setAttr -lock true "elbow.ry";
setAttr -lock true "elbow.scale";
setAttr -lock true "wrist_twist.translate"; 
setAttr -lock true "wrist_twist.rx";
setAttr -lock true "wrist_twist.rz";
setAttr -lock true "wrist_twist.scale";
setAttr -lock true "wrist_bend.translate"; 
setAttr -lock true "wrist_bend.rx";
setAttr -lock true "wrist_bend.ry";
setAttr -lock true "wrist_bend.scale";
setAttr -lock true "gripper1.translate"; 
setAttr -lock true "gripper1.rx";
setAttr -lock true "gripper1.ry";
setAttr -lock true "gripper1.scale";