Keywords to google for those interested: well-conditioned [matrix or function], gimbal lock, wrist flip. There are some cool videos of wrist flips online, and

Keywords to google for those interested: well-conditioned [matrix or function], gimbal lock, wrist flip. There are some cool videos of wrist flips online, and I’ve heard of a pickup truck being thrown by an articulated arm on a factory floor due to it. Sounds worth the precaution, given the right context!