A) in a simple assembly task as shown in Fig.QIA, find the transformation matrix 4X4. The block needs to be placed on top of the stairs so that (e and c) are in touch in addition that points (d and f) are matched. After assembly, the final solid will be a rectangular block. Verify the transformation by transforming point d to point f To find the homogenous transformation matrix that describes this assembly problem: 1. Write-down the transformation matrices for each frame with respect to universal coordi- nates (TUT) 2. Draw the transform diagram 3. Compute the transformation 4X4 matrix "TA 4. Calculate the new location of point d with respect to the frame U after the block moved to be coincident point d with pointf("f) (U) 3 {B} Block (8.2.-2) (A) ZA Stairs 3 3 2 e (0.6.2) Y YU