q1)

A game involves a contest between dinosaurs and giant robots.

The animation of a robot is simulated using a hierarchical scene

graph, whereas a dinosaur is modelled using a skinned

animation skeleton.

a) A robot is humanoid, consisting of a body, a head, two upper

arms, two lower arms, two hands, two upper legs and two

lower legs. draw, step-by step, how the position of a tool

in a robot's hand is calculated in world space, using a

hierarchical scene graph.