The Web Handling Primitives library consists of the following components.

Fixed Frame frame fixed in the x-y plane at a given position and orientation

Prescribed Motion controls relative translation in the x-y plane and rotation around z-axis

Prismatic allows 1 translational degree of freedom along the x or y axis

Revolute allows 1 rotational degree of freedom about the z-axis

Rigid Body rigid body that can move in the x-y plane and rotate about the z-axis

Rigid Body Frame fixed translation in the x-y plane followed by a fixed rotation about the z-axis