I don't see any math, only visualization, where is the mathematical concepts and equations explained again?
For example I don't see a link between a given graph and one particular joint.
The README says each joint has (3 + 4 + 3) values but I only see graphs with 4 curves.
Ideas:
* allow to select a particular joint to only view the graphs related to that joint
* add titles to each graph
* allow to pause the animation, change the speed