Objectives

1. Understand Effective Transformations: Explore how transformations applied at higher levels of a hierarchical structure affect lower-level components, using an articulated arm model as an example.

2. Construct a Hierarchical Model: Learn how to construct a hierarchical model in 3D graphics, where each part's position and orientation are determined relative to its parent node through matrix transformations.

3. Demonstrate Hierarchical Control: Demonstrate how movements or transformations initiated at the root node (e.g., Shoulder) cascade down through the arm structure (Elbow, Forearm, Wrist, and Palm), showcasing hierarchical control and propagation of transformations.