I got this idea from my robotics class where the professor was demonstrating changes in orientation of a frame from rotations higher in the robot. He used a tool much like this one and I figured I could design and print one that can be taken apart and put into a backpack when class is done.

I would recommend printing the vector pieces at 99 to 98% scaling. While designing the peg and hole mechanism, I left no margin of error making it pretty hard to insert and remove the pieces from the origin.