A box carries its own body frame {b}. Pose it, move it along a screw axis, push on it, and watch every quantity of chapter 3 update in the space frame {s} and the body frame: rotation matrices, angular velocities, exponential coordinates, homogeneous transformations, twists, screw axes and wrenches. Notation follows Modern Robotics (Lynch & Park): [x] is the skew-symmetric matrix of x, and [𝒱] the 4×4 matrix of a twist.
Drag inside either view to orbit, scroll to zoom. Pick an experiment above, or start from “Everything to zero” and raise one value at a time.