Following the homework assignment specifications for the Lynx6 manipulator, get the forward kinematics added to the computational functions of the Lynx6 class.

1. Program the forward kinematics into the Lynx6 class. There should be an empty member function for the forward kinematics. It might be misnamed, so fix the name if that is the case (should be called forwardkin). There is a single return arguments [g] returning an $SE(3)$ object (the g part).
2. There should be a verification file for the calibration that uses the forward kinematics. The file resembles that used for the Piktul and should be straightforward to get working. You will have to demo the execution of the verification function. During the demo, we will look at the actual position and orientation values versus the ones predicted by the forward kinematics. They should be close up to the sag associated to gravity that the servo motors don't quite compensate. Some joint configurations will be slightly below the predicted height and may have some angular error too.