Write In MATLAB

2. Write a Matlab simulation program to: a. Initialize the Baxter's left arm at an arbitrary joint configuration. b. Given a commanded end effector velocity C. Calculate the corresponding commanded joint velocities using the pseudo-inverse formula. d. Set the actual joint velocities to the commanded joint velocities (perfec simulation) and numerically integrate them with a time step of 0.01 seconds. e. Compute the end effector position and velocities f. Repeat steps cd and e for a simulation time of 10 seconds. g. Plot end effector states (position and velocity) h. Plot joint position trajectories. 3. Write a Python program to move Baxter's left arm along the joint position trajectories in section 2 2. Write a Matlab simulation program to: a. Initialize the Baxter's left arm at an arbitrary joint configuration. b. Given a commanded end effector velocity C. Calculate the corresponding commanded joint velocities using the pseudo-inverse formula. d. Set the actual joint velocities to the commanded joint velocities (perfec simulation) and numerically integrate them with a time step of 0.01 seconds. e. Compute the end effector position and velocities f. Repeat steps cd and e for a simulation time of 10 seconds. g. Plot end effector states (position and velocity) h. Plot joint position trajectories. 3. Write a Python program to move Baxter's left arm along the joint position trajectories in section 2