This animation shows animation produced by forward kinematics.
It is a four link deep appendage with a branch after the second
link The first and third links have two degrees of freedom, the
others have one. The first frame is defined by rotation angles
((0,0),0,[(30,0),-15],[(-30,0),15] The last frame is defined by
rotation angles ((-30,60),-80,[(90,30),-135],[(-90,30),135]