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: