6 DOF robot arm

hi

Im new to breve and im still learning it.
Im palnning to simulate Denavit Hertanberg fomular using a robot arm. Since im new to this
if any one can post a sample code for a simulation of a 6 dof robot arm, i can have a look
and get some idia about how to do it.

this wil be a big help for my future work with breve.

kind regards
thank you