Purpose and Description: Pick$-$and$-$Place takk $($operation$),$ as a classical robotics problem, has been extensively studied and utilized in industrial settings and warchouses such as assembly lines and packaging. Nowadays, robots are becoming part of our lives and performing more complex tasks, such as helping with housekeeping, making coffee, and socially interacting with humans. The objective of this project is to explore an example of pick$-$and$-$place by using our Tinkerkit Braccio Robot, shown in Pig. $1.$

attached to Braccio and cup

Fig. $2$: the initial and final state of the Rubik's cubes with attached frames.

The scenario here is that the robot starts from its home position, moves to the desinated intial locations, and picks the Rubik cubes $($see Fig. $2)$ located at point $1$ to $3($see Fig$\mathrm{.}3)$ indivudually in that order and place them one by one at the final position on top of each other, then finally returns to its home position. The standard defintion of the frames for the robot arm and the cubes are shown in Fig. $1.$ The initial and final orientations of the cubes are

Fig. $3$: Layout of pick$-$and$-$place operation. All circle zones are same size $(80mm$ in diameter$)$ and the coordinates show the location of the center of each zone with respect to the base frame of the robot. The ceuter of the base of the robotic arm located at the origg of the frame. You are allowed to move $($adjust$)$ the cubes? position in the specified circle zone. Ant length's units ane in mm$.$ shown in Fig. $2.$ Note that the initial orcintations of the cubess are different. The detailed layout of the initial and final positions on a table are shown in Fin. $3.$ Your task is to program the Braccio robot amn to perform the scenario successfully.