Given the modified DH parameters of Puma $560$ as seen in our Lecture $6,$ write a MATLAB script that forms and prints the Transformation matrices between consecutive frames $($T$\_0\_1,$ T$\_1\_2,$ T$\_2\_3,$ T$\_3\_4,$ T$\_4\_5,$ T$\_5\_6)$ plus the transformation matrix from the base frame to the end$-$effector $($T$\_0\_6)$ using symbolic variables and functions as we did in our examples $(7$ points$).$