Your task is to implement a basic program to pick and place objects using the DoBot. DoBot Magician: $$ DoBot Python program for going point A to B for picking and placing tasks using forward kinematic from MATLAB toolbox The DoBot has a programming environment. You need to make the calculation using MATLAB robotics toolbox and bring that information to the python to make an automatic pick and placing for the robot. This is the forward kinematic MATLAB code: $\%$ Forward Kinematics for Dobot Magician

$\%$ Define D$-$H parameters $[$theta$,$ d$,$ a$,$ alpha$]$ for each joint

L$1=$ Link$([0,0\mathrm{.}1,0,$ pi$/2,0])$;$\%$ Joint $1$

L$2=$ Link$([0,0,0\mathrm{.}2,0,0])$;$\%$ Joint $2$

L$3=$ Link$([0,0,0\mathrm{.}2,0,0])$;$\%$ Joint $3$

L$4=$ Link$([0,0\mathrm{.}1,0,$ pi$/2,0])$;$\%$ Joint $4$

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$\%$ Create the robot model

dobot $=$ SerialLink$([$L$1,$ L$2,$ L$3,$ L$4],$ 'name', 'Dobot Magician'$)$;

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$\%$ Display the robot model

dobot.display$()$;

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$\%$ Forward kinematics: compute the transformation matrix for given joint angles

q $=[$pi$/4,$ pi$/6,-$pi$/4,$ pi$/6]$;$\%$ Example joint angles

T $=$ dobot.fkine$($q$)$;

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$\%$ Output the transformation matrix

disp$(\text{'}$Forward Kinematics Transformation Matrix:$\text{'})$;

disp$($T$)$;

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$\%$ Plot the robot

dobot.plot$($q$)$; Fig. $6$ Environment for programing