1. (20 points) Please use Matlab to do the following (you must show your Matlab commands and the screen shots of your plots):
a) Create a coordinate system for $-5 \le x \le 5$, and $-5 \le y \le 5$.
b) Create a world frame \{0\} at (0, 0);
c) Create frame \{1\} with blue color by first translating frame \{0\} to (-2, -2), then, rotating the translated frame by $30^\circ$ degree;
d) Create frame \{2\} with red color by first translating frame \{0\} to (2, 2);
e) Create frame \{3\} with green color by performing $T_1 * T_2$;
f) Create frame \{4\} with cyan color by performing $T_2 * T_1$;
g) Please explain why frame \{4\} has its pose as shown on your graph in terms of the transformations used to create it?
