How to rotate and translate an object at the same time??

Hi, I have a problem with rotation and translation of an object at the same time. I wrote a behovior class for my object (a cylinder). When some conditions are true the cylinder is added to a robot arm. Then it is translated so that the cylinder would be very close to the arm (looks like the robot is holding it). And now the behavior should also rotate the cylinder because the angle is 0 and it should be 90. I can translate the object or I can rotate the object but when I'm trying to do it at the same time (I want to combine rotation and translation) it doesn't work.
Could anyone help me, please :)

You can used to Matrix3f
This object is a rotation and translate matrix
for example:
private void componerTransformada(){
Quat4f rot = new Quat4f((float) this.getRotacionSobreX(),(float) this.getRotacionSobreY(),
(float) this.getRotacionSobreZ(),1.0f);
Vector3f tras = new Vector3f(-4.0f,-4.0f,(-1)*this.getDistanciaDeLaCamara());
this.setTransformacion(new Transform3D(new Matrix4f(rot, tras, 1.0f)));
Quat4f is a matrix of ratation
vector3f is a direction vector
Transform3d is building with Quat4f and Vector3f.
That is work i use this to situe the view of point.
good locky

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