N {RF} Ус Ze X Xc {G} {02} Ут Z1 {0} VG XG ZG Note: Diagram not drawn to scale With reference to the Figure below the frame situated at the top of object 1, {O1}, is at [100, 50, 20] relative to reference frame (RF). The camera frame (C) is situated at [50, 0, 130] relative to object 1. When a robot grasps an object the z-axis of the gripper frame, {G}, is antiparallel to the z- axis of the object, the y-axes are aligned and the origin of the gripper frame (also shown in the diagram) coincident with the origin of the frame of the object. (b) Find the transform RFT of the position and orientation of the gripper frame relative G₁ to (RF) when it grasps object 1.