Starting from the previous exercise you will substitute the linear interpolation used in the first part with Catmull-Rom interpolation. You will have one spline for each joint angle, for the positions of the robots and eye, and for the orientations of the robots and the eye. During the animation, you will create intermediate states by evaluating the Bezier curves at intermediate times, and then use these intermediate states to display an intermediate frame. For the orientations you will need to use quaternion splines.