1) For the RRRP example presented in class, use the MR code to determine the Transformation Matrix from the PoE representation for theta [pi/3, pi/4, pi/5, 2]. a. Consider using functions: FKinBody, FKinSpace, MatrixExp6, VecTose, 1) For the RRRP example presented in class, use the MR code to determine the Transformation Matrix from the PoE representation for theta [pi/3, pi/4, pi/5, 2]. a. Consider using functions: FKinBody, FKinSpace, MatrixExp6, VecTose