This is my cool example body:
<figure aspect=1.0>
<slider xLsy=0> L s about y </slider>
<slider xLsz=0> L s about z </slider>
<slider xLex=0> L e about x </slider>
<slider xLez=0> L e about z </slider>
<slider xLwz=.5> L w about z </slider>
<slider xRsy=0> R s about y </slider>
<slider xRsz=0> R s about z </slider>
<slider xRex=0> R e about x </slider>
<slider xRez=0> R e about z </slider>
<slider xRwz=.5> R w about z </slider>
   Geometry La, Ls, Le, Lw, Lu, Ll, Lh;
   Geometry Ra, Rs, Re, Rw, Ru, Rl, Rh;

   Geometry eJoint;

   setup() {
      render.addLight( 1, 1, 1, 1, 1, 1);
      render.addLight(-1,-1,-1, 1, 1, 1);
      render.setFOV(0.6);

      Material material = new Material();
      material.setDiffuse(1, .6, .6);
      material.setAmbient(.2, .12, .12);

      La = render.getWorld().add();
      La.setMaterial(material);

      Ls = La.add();
      Le = Ls.add();
      Lw = Le.add();

      Lu = Ls.add().sphere(8);
      Ll = Le.add().sphere(8);
      Lh = Lw.add().sphere(8);

      Ra = render.getWorld().add();
      Ra.setMaterial(material);
      Rs = Ra.add();
      Re = Rs.add();
      Rw = Re.add();
      Ru = Rs.add().sphere(8);
      Rl = Re.add().sphere(8);
      Rh = Rw.add().sphere(8);
   }

   double Lsy,Lsz,Lex,Lez,Lwz;
   double Rsy,Rsz,Rex,Rez,Rwz;

   update() {
      double s = Noise.noise(3 * time);
      double c = Noise.noise(3 * time + 10);

      Lsy = s;
      Lsz = c;

      Ley = s;
      Lez = c + 1;

      Rsy = s;
      Rsz = c;

      Rey = s;
      Rez = c + 1;

      Rsy = Math.sin(2 * time);
      matrix = Lu.getMatrix();
      matrix.identity();
      matrix.translate(0.5, 0, 0);
      matrix.scale(0.5, 0.1 + .05*Lez, 0.1 + .05*Lez);

      matrix = Ll.getMatrix();
      matrix.identity();
      matrix.translate(0.5, 0, 0);
      matrix.scale(0.5, 0.1, 0.1);

      matrix = Lh.getMatrix();
      matrix.identity();
      matrix.translate(0.2, 0, 0);
      matrix.scale(0.2, 0.1, 0.1);

      matrix = Ls.getMatrix();
      matrix.identity();
      matrix.rotateY(-Lsy);
      matrix.rotateZ(Lsz);

      matrix = La.getMatrix();
      matrix.identity();
      matrix.translate( 0.5, 0, 0);



      matrix = Le.getMatrix();
      matrix.identity();
      matrix.translate(1.0, 0, 0);
      matrix.rotateX(Lex);
      matrix.rotateZ(2 * Lez);

      matrix = Lw.getMatrix();
      matrix.identity();
      matrix.translate(1.0, 0, 0);
      matrix.rotateZ(2 * Lwz - 1);






      matrix = Ru.getMatrix();
      matrix.identity();
      matrix.translate(-0.5, 0, 0);
      matrix.scale(0.5, 0.1 + .05*Rez, 0.1 + .05*Rez);

      matrix = Rl.getMatrix();
      matrix.identity();
      matrix.translate(-0.5, 0, 0);
      matrix.scale(0.5, 0.1, 0.1);

      matrix = Rh.getMatrix();
      matrix.identity();
      matrix.translate(-0.2, 0, 0);
      matrix.scale(0.2, 0.1, 0.1);

      matrix = Rs.getMatrix();
      matrix.identity();
      matrix.rotateY(-Rsy);
      matrix.rotateZ(-Rsz);

      matrix = Ra.getMatrix();
      matrix.identity();
      matrix.translate(-0.5, 0, 0);



      matrix = Re.getMatrix();
      matrix.identity();
      matrix.translate(-1.0, 0, 0);
      matrix.rotateX(Rex);
      matrix.rotateZ(-2 * Rez);

      matrix = Rw.getMatrix();
      matrix.identity();
      matrix.translate(-1.0, 0, 0);
      matrix.rotateZ(-2 * Rwz + 1);
   }
   
</figure>