A short explanation about Task 3 in the first mandatory assignment

Task 3 may seem demanding, perhaps this explanation may help ? 

The schematic illustrates the final position of the CrustCrawler after multiple rotations. These rotations depend on the CrustCrawler¡¯s initial orientation and configuration. In Task 2, you made a 3D illustration of the CrustCrawler in an orientation of your choice with various coordinate frames. You need to come up with the correct rotations based on that. Determining the correct angles, in the correct directions (positive or negative), will help you achieve the orientation and configuration in task 3.  

For example, see if your z axes are pointing into the plane or out of the plane. In the text, the Crustcrawler makes a 270-degree rotation about the z_0 axis. Its initial orientation aligns with the positive x_0 axis. Which axis does your initial orientation align with, and how much should you rotate your Crustcrawler?

The tool tip¡¯s position after these rotations is given relative to the base frame (which matrix should you use to calculate this?). The goal is to express this position relative to the task frame now. A transformation matrix can help you relate the position in the base frame to the position in the task frame.