USE MATLAB & Peter Corke tool boxes Polynomial spirals, Robotics toolbox, Spiral Math Toolbox, Triple Angle Visualizer

A robot arm is rested at the origin of a world frame $\{$O$\}.$ Then, it moves straight to a location $(3,6,9).$ It stays at this point to perform rotational maneuver: a Cardanian$$s roll$-$pitch$-$yaw sequence $\backslash$Gamma $=(45^0,60^0,30^0).$ The arm$$s body frame is called $\{$B$\}.$ Please use Matlab to do the following:

Calculate the homogenous transformation matrix T that will transform $\{$O$\}$ to $\{$B$\}$;

Draw a coordinate system for $0<=$x$<=5,0<=$y$<=5,0<=$z$<=5.$ Then, draw the frame $\{$O$\}$with green color;

Draw the frame $\{$B$\}$ with red color. Use mouse button to rotate your graphics to see the relative positions between frame $\{$O$\}$ and $\{$B$\}$;

Instead of a robot arm, now, consider a drone with the same translation and the same Cardanian$$s roll$-$pitch$-$yaw sequence, Calculate its homogenous transformation matrix T that will transform $\{$O$\}$ to $\{$B$\}$; Compare it with matrix in a$),$ why are they different?