Rigid bodies are essential primitives in the modelling of robotic devices, tasks, and perception. Basic geometric relations between rigid bodies include relative position, orientation, pose, linear velocity, angular velocity, twist, force, torque, and wrench.
In Part 1, we explicitly stated the semantics of all coordinate-invariant properties and operations, and, more importantly, all the choices that are made in coordinate representations of these geometric relations. This resulted in a set of concrete suggestions for standardizing terminology and notation.
In this tutorial, we show how the proposed semantics allow us to write fully unambiguous software interfaces, including automatic checks for semantic correctness of
all geometric operations on rigid-body coordinate representations.