Translations:VRML Preparation for Robot Simulation/17/en

This corresponds to a rotation about the y-axis. In the CAD model, the rotation is about the z-axis. Thus, we need to a rotation about the x-axis of $$\pi$$ before the FreeCAD axis definition and of $$-\pi$$ after it. Also, a translation of (-xd, -yd, -zd) is needed just before the Group corresponding to the definition of FOREARM to express it in the relative reference frame centered at D. This means that a translation of (xd, yd, zd) must be inserted before the first rotation. At the end, the vrml-file from the definition of ELBOW to the definition of FOREARM looks like this: