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This is the machine in question whose movements I'd like to

This is the machine in question whose movements (1.35 -1.38, source: https://www.youtube.com/watch?v=WfpfpzknBo8&t=266s) I'd like to replicate via applying armature. My mesh: enter image description here

How do I apply a tentacle armature after the limb fully extends its joints, to make the tentacle retract into the body? Also, how do I make the body rotate at 1.26? Again, I'd like to replicate all this machine's movements, as per this video.

Thanks

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