Coordinate frame {E} is rotated by pi/2 and then translated along the x-axis by 5 with respect of coordinate frame {W}.

Write the Python code for the following:

a) Create an 3x3 identity matrix and assign it to the variable "Tx" b) Change "Tx" so that it represents a translation along the x-axis of 5. This is the translation matrix c) Create a rotation matrix and assign it to variable "R" d) Perform a matrix multiplication to obtain the relative pose of coordinate frame {E} with respect to coordinate frame {W} and assign this to variable "WTE" e) Define a variable called "Ep" and assign it the coordinate (3,2). This is the point defined with respect to coordinate frame {E}. Note: Remember that we are using homogeneous transformation matrices f) Using your matrices, find the coordinates of the same point but now with respect to coordinate frame {W}. Name this Wp. g) Let the coordinate frame {E} now be rotated by pi/3 and then translated along the y-axis by 10. If Ep is still (3,2), determine the coordinates of the same point with respect to coordinate frame {W}