Make sure the asset that you want to deform is not a symbol. Select Break apart from the Modify menu if your asset is a symbol.

Select the Asset Warp tool and create three point on the arm (hand, elbow and shoulder)

Alter the position on the first keyframe of the right arm.

Create another keyframe where the robot comes to a stop. Move the Warp handles in the opposite direction.

Within these keyframes you’ll need to create a Classic Tween by right clicking on the space between those keyframes. Select Classic Tween.

Do the same for the other arm.