def METHOD_NAME(manip):
    robot=manip.GetRobot()
    env=robot.GetEnv()
    while True:
        h = None
        joints = [robot.GetJoints()[i] for i in manip.GetArmJoints()]
        h = [env.drawlinelist(array([j.GetAnchor()-j.GetAxis(0),j.GetAnchor()+j.GetAxis(0)]),5,array([0,0,i/8.0]))  for i,j in enumerate(joints)]
        time.sleep(0.1)