assertTrue(transform.epsilonEquals(expectedTransform, 1e-10));
generator.identity();
generator.translate(new Vector3D(-3.0, 9.0, 11.0));
expectedTransform = new RigidBodyTransform();
assertTrue(transform.epsilonEquals(expectedTransform, 1e-10));
generator.identity();
generator.rotate(1.7, Axis.Z);
expectedTransform = new RigidBodyTransform();
assertTrue(transform.epsilonEquals(expectedTransform, 1e-10));
generator.identity();
generator.rotateEuler(0.11, 0.12, 0.13);
expectedTransform = new RigidBodyTransform();