trCyl1.set(new Vector3f(0.f,0.8f,0f));
Transform3D trCyl1rot = new Transform3D();
trCyl1rot.rotX(90*Math.PI/180);
trCyl1.mul(trCyl1rot);
TransformGroup trGcyl1 = new TransformGroup(trCyl1);
Cylinder cyl1 = new Cylinder(0.2f,0.5f,appCyl);
trGcyl1.addChild(cyl1);
// Cylinder 2
Transform3D trCyl2 = new Transform3D();
trCyl2.set(new Vector3f(0f,0.5f,0f));
Transform3D trCyl2rot = new Transform3D();
trCyl2rot.rotZ(90*Math.PI/180);
trCyl2.mul(trCyl2rot);
TransformGroup trGcyl2 = new TransformGroup(trCyl2);
Cylinder cyl2 = new Cylinder(0.2f,0.5f,appCyl);
trGcyl2.addChild(cyl2);
// box1
Transform3D tr1 = new Transform3D();
Transform3D trRot2 = new Transform3D();
trRot2.rotX(rot2*Math.PI/180);
tr1.mul(trRot2);
Transform3D tr11 = new Transform3D();
tr11.set(new Vector3f(0f,-0.5f,0f));
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);