forward kinematics problem for open-chain robots: finding the configuration of the robot's end-effector in T(θ)∈SE(3)T(θ)∈SE(3)T, left parenthesis, theta, right parenthesis, \in, S, E, left parenthesis, 3, right parenthesis given the vector of positions of the joints, θθtheta. The forward kinematics problem is easy to solve using a formula called the "product of exponentials," which uses the matrix exponential of this chapter. In this rather simple project, you will let the robot simulation software CoppeliaSim solve the forward kinematics for you. The goal of this project is to gain familiarity with CoppeliaSim and to confirm its calculation of the forward kinematics by visual inspection. You will submit a screenshot of the UR5 robot at a specific configuration.