A robot is set up $1$ meter from a table $($Figure Shown Below$).$ The table top is $1-$meter$-$high and $1-$meter square. A frame $\{1\}$ o$1$x$1$y$1$z$1$ is fixed to the edge of the table as shown. A cube measuring $20$ cm on side is placed in the center of the table with frame $\{2\}$ o$2$x$2$y$2$z$2$ established at the center of the cube as shown. A camera is situated directly above the center of the block $2$m above the table top with frame $\{3\}$ o$3$x$3$y$3$z$3$ attached as shown.

a$)$ Find the homogeneous transformations, T $01,$ T $02,$ T $03,$ relating each of these frames to the base frame $\{0\}$

o$0$x$0$y$0$z$0[$

b$)$ Find the T $23$ relating frame $2$ to the camera frame $3$