Box Size Length

1 Width

1.5 Height

2 Choose the Degrees of Rotation $\theta_x$

0 $\theta_y$

0 $\theta_z$

0 Components of the Rigid Body Displacement $C_x$

0 $C_y$

0 $C_z$

0

$Q = \begin{pmatrix}1.0000&0.0000&1.0000\\0.0000&1.0000&0.0000\\0.0000&0.0000&1.0000\end{pmatrix}$ $c = \begin{pmatrix}0\\0\\0\end{pmatrix}$