Geometric Relations Between Rigid Bodies (Part 2): From Semantics to Software

Rigid bodies are essential primitives in the modeling 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 of this tutorial [3], 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.