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From Rebeldroids Wiki
The droid that interrogated C-3PO and Artoo at Jabba's enclave.
References
Gallery Entry with several good screen grabs.
Info
There appears to be a variant that has an independent support instead of being stuck on the door.
It's worth noting that the arm seems to extend with a pushrod of some sort, but then there's a middle sleeve that also slides in/out over that arm inside the outer sheath. That makes the hinged bit change shape.
Another fun bit is that the "eyelid" opens.