In this homework, create an imaginary robot with four parts: base, p1, p2 and p3. The four parts are connected in a serial fashion, such as base--p1--p2--p3

Rotations should all be identity rotations (straight, no rotation). Translations should only be in x. The y and z should always be 0.

Publish their relative transformations using the sendTransform function.

Have the p2's x translation value relative to p1 change once a second. You can decide how that change will be (e.g., linear motion in x with 3m/s speed).

All of the above should happen in a node named robot.py.

In another node called plot.py, get p1's, p2's and p3's transformations with respect to base. Publish the x values of their translations. Plot them in time in webviz and include them in your report. Explain what the plots show and how it reflects the motions of the robot.