Robotics python code- Sticking stickers on packages robot, with explanations about the process of the robot.

In short: Write a python code for a Robot (RRR, or RPP- whatever you think is the better solution) that will stick stickers on packages, located in a given area. In an automation process in a factory, there’s a need of a robot to stick a sticker on a product placed randomly on a work area as detailed below: • A top view sketch of the work space (grey) can be seen in the figure below. The base of the robot arose at the beginning of the axis system. • An overhead camera provides the position of the product in the main axis system. • A robot collects the sticker from the sticker device (blue) when the gripper is in a predefined position x_init= [1.5,0,0.1] and the end tool is perpendicular to the surface. • It is required to configure a robot that can move from the starting position (collecting the sticker) to any possible position of the product on the surface. • At the top of the Python code, define the product coordinate in the x-y plane received (as it were) from the camera as follows: x_product = [2, 3.4] # Position of the product on the plane • The values are for example only. Changing the necessary coordinates will be done only in this row (for testing purposes). Product height - 0.1 meter. • Given the location of the product, it is required to plan a path (path planning) for the robot without collisions so that the end tool reaches the product and sticks the sticker perpendicular to the surface. • A collision is defined as the approach of the end tool to the obstacle (red) or the floor at a distance of less than 5 mm. Also, the gripper must remain only above the gray area (or blue when collecting a sticker). Collisions of the other parts of the robot can be ignored. It is possible Also ignore the collision with the sticker device (blue). • Each joint is limited to a range of angles [-180°,180°] **The figure is in the PDF file** You must write Python code that will produce the following output (depending on the x_product input) : 1. Graph the path of the end tool in the xyz space. The obstacle must be presented. 2. Graph the angle of the end tool relative to the perpendicular to the surface as a function of time. 3. Graph the joint angles (in degrees) as a function of time. 4. Simulation of the robot's movement in space. The obstacles must be presented. The code and its correctness will be checked for different options of the product coordinates. The following must be presented in the report and explained: 1. Kinematic model - the robot figure includes dimensions, direct kinematics, inverse kinematics and Jacobian. 2. Verbal explanation of the traffic planning solution accompanied by flow charts. 3. Output the requested graphs in xyz space for 3 choices of product placement. A word document (.docx) must be submitted with full details of the solution method, algorithms, development of kinematic models, planned routes, control method and printout of the code. • Only Python 3 can be used. • Only code packages can be used: o Numpy o Matplotlib o Mpl_toolkits o Math o Scipy o Pandas o Sympy • A Python file that is ready to be run must be submitted, where each section is highlighted first with a comment indicating its number. • You must attach a reference to external sources, if you used such.