generator.translateThenRotateEuler(new Vector3D(1.0, 0.0, 0.0), new Vector3D(0.0, -Math.PI / 2.0, 0.0)); generator.translateThenRotate(translateThenRotate); generator.translateThenRotateEuler(new Vector3D(3.0, 0.0, 0.0), new Vector3D(0.0, 0.0, 0.0)); transform = generator.getRigidBodyTransformCopy(); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10));