tr1.mul(tr11);
//tr1.set(new Vector3f(0f,-0.5f,0f));
TransformGroup trGbox1 = new TransformGroup(tr1);
Box box1 = new Box(0.2f,1f,0.2f,app);
trGbox1.addChild(box1);
Transform3D tr2 = new Transform3D();
tr2.set(new Vector3f(0f,-0.5f,0.3f));
tr1.mul(tr2);
Transform3D tr3 = new Transform3D();
//tr3.rotX(30*Math.PI/180);
tr3.rotX(rot3*Math.PI/180);
// Cylinder 3
Transform3D trCyl3 = new Transform3D();
//trCyl3.set(new Vector3f(0f,-1.5f,0f));
Transform3D trCyl33 = new Transform3D();
trCyl33.set(new Vector3f(0f,-0.5f,-0.2f));
trCyl3.mul(tr1);
trCyl3.mul(trCyl33);
Transform3D trCyl3rot = new Transform3D();
trCyl3rot.rotZ(90*Math.PI/180);
trCyl3.mul(trCyl3rot);
TransformGroup trGcyl3 = new TransformGroup(trCyl3);
Cylinder cyl3 = new Cylinder(0.2f,0.5f,appCyl);
trGcyl3.addChild(cyl3);
Transform3D tr4 = new Transform3D();
tr4.set(new Vector3f(0f,-1.5f,0f));
tr3.mul(tr4);
tr1.mul(tr3);
// box2
TransformGroup trGbox2 = new TransformGroup(tr1);
Box box2= new Box(0.2f,1f,0.2f,app);
trGbox2.addChild(box2);
// transform for sphere
Transform3D tr5 = new Transform3D();