$($b$).$ Let $q$ is a point rigidly attached to the end effector frame $\{b\}.$ The position of $q$ in the frame $\{b\}$ is $(1,0,-1).$ Write a MATLAB function, named $q=$ SpatialPositionQ $(t),$ which returns the position of point $q$ in the fixed frame $\{s\}$ at any given time $t.$ You can call Tsb $=$ EEFrameConfig$(t)$ from this function $($in fact, it is recommended to do so$.)$