beta = math.pi -beta
rot0 = geompy.MakeRotation(objet, OX, orientation*math.pi/180.0)
rot1 = geompy.MakeRotation(rot0, OZ, alpha)
axe2 = geompy.MakeRotation(OY, OZ, alpha)
rot2 = geompy.MakeRotation(rot1, axe2, beta -math.pi/2.)
beta = math.pi -beta
rot0 = geompy.MakeRotation(objet, OX, orientation*math.pi/180.0)
rot1 = geompy.MakeRotation(rot0, OZ, alpha)
axe2 = geompy.MakeRotation(OY, OZ, alpha)
rot2 = geompy.MakeRotation(rot1, axe2, beta -math.pi/2.)