) Generate cubic trajectories with intermediate points for 3DoF robot Description: This function should generate a cubic trajectory for the given input. Assume the start velocity and the end velocity are both zero. You should be able to choose the velocity mode for each intermediate point (i.e. equal velocity and equal acceleration, zero velocity, and average velocity. Input: Position list, time list, velocity mode list, and frequency. Output: In A 2D array, the first dimension is the axis index, and the second dimension is the value for each coordinate at each frame.