Perform the trajectory generation and path$-$following task described in the course project for a "omronEcobra$600"$ SCARA robot $($not the SCARA robot given in the project file$)$ using the following Simulink blocks:

$1-$ "Polynomial Trajectory block" that accepts $[$x$,$y$,$z$,$sai$]$ and returns the smooth cubic polynomials for these variables at $0\mathrm{.}1-$second intervals.

$2-$ "Inverse Kinematics block" that accepts position outputs of the Polynomial Trajectory block as well as a "rigid body tree" that is imported into MATLAB$/$Simulink using the command "loadrobot" in MATLAB and returns the joint variables for these values.

$3-$ "Simulation $3$D Robot Block" that animates the robot for the given joint values using Simulink $3$D Animation environment. Note that using this block requires using the "Simulation $3$D Scene Configuration" block and probably the "Simulation $3$D Actor" block as well. Add a simple environment for the scene.

$4-$ "Any other task can be achieved using a "MATLAB fcn$"$ block.

TO DO: Write Matlab$/$ Simulink code that can do these $4$ things please