Maybe I'm asking a very vague question but I'd like to know if there are some visualisation tools available already that explain lie algebra exponential map or logarithm? I'd like to be able to explain the concept of SO3 in my thesis and I have only a basic mathematical knowledge of it, nothing more. If you could pass me a link where things are explained more by visual means than mathematics, it'd help me a lot. I've only been able to find mathematical introductions etc. on this with my search on google.
I apologise if this kind of question has been asked before I didn't find it though.
Kind Regards, Ankur.