RAPID code data declarations are given below. !TCP Pen definition TASK PERS tooldata Pen:=[TRUE,[[115,0,140],[1,0,0,0]],[0.25,[20,0,70],[1,0,0,0],0,0,0]]; www. a) Identify all the quaternions used (circle them) b) Determine the pose matrix for tooldata Pen (which is a TCP and relative to tool0)

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