Rigid bodies are essential primitives in
the modelling of robotic devices, tasks, and percep-
tion. Basic geometric relations between rigid bodies in-
clude relative position, orientation, pose, linear veloc-
ity, 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 co-
ordinate representations of these geometric relations.
This resulted in a set of concrete suggestions for stan-
dardizing terminology and notation. In this tutorial, we
show how the proposed semantics allow us to write
fully unambiguous software interfaces, including auto-
matic checks for semantic correctness of all geometric
operations on rigid-body coordinate representations.