Please see an attachment for detailswhat information is missing?

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A mobile robot is moving within a warehouse making stops at multiple two stations denoted by frames (S1) and ($2) in the diagram below. The world frame (W} represents a fixed reference frame in the warehouse. Frame {S1) is defined with respect to frame {W} by a translational component (-2; -3) and a rotation of -7/4, while frame {$2} is defined with respect to frame {$1} by a translational component (3; 1) and a rotation of It /4. Page 5 of 7 Wp WT s1 $2 P (S2} SIT $2 (S1}A mobile robot is moving within a warehouse making stops at multiple two stations denoted by frames S1) and {52} in the diagram below. The world frame {W} represents a fixed reference frame in the varehouse. Frame {51} is defined with respect to frame {W} by a translational component (2; 3) and 1 rotation of m /4, while frame {52} is defined with respect to frame {1} by a translational component '3; 1) and a rotation of /4. i'l\"iltl-n' " {51} 1. [6 marks] Use the given data to write down the homogeneous transforms WT's; and $1T'g;. 2. [4 marks] After reaching the second station {52}, you need to find out where the robot is relative to the fixed world frame {W}. Compute the homogeneous transform T, using the given transformations. Show in detail the steps you followed to arrive at your result