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lambda_r.m
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function [lambdar12z, lambdar34z, lambdar56z, lambdar78z, lambdar12y, lambdar34y, lambdar56y, lambdar78y, ...
lambdar12x, lambdar34x, lambdar56x, lambdar78x] = lambda_r()
%LAMBDA_R Summary of this function goes here
% returns lambdas r
lambdar12z = [1 0 0 0 0 0;
0 1 0 0 0 0;
0 0 0 1 0 0;
0 0 0 0 1 0;
0 0 0 0 0 1];
lambdar34z = [1,0,0,0,0,0;
0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,1,0,0;
0,0,0,0,1,0];
lambdar56z = [1,0,0,0,0,0;
0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,1,0,0;
0,0,0,0,1,0];
lambdar78z = [1,0,0,0,0,0;
0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,1,0,0;
0,0,0,0,1,0];
% Leg x
lambdar12x = [0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,1,0,0;
0,0,0,0,1,0;
0,0,0,0,0,1];
lambdar34x = [1,0,0,0,0,0;
0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,0,1,0;
0,0,0,0,0,1];
lambdar56x = [1,0,0,0,0,0;
0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,0,1,0;
0,0,0,0,0,1];
lambdar78x = [1,0,0,0,0,0;
0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,0,1,0;
0,0,0,0,0,1];
% Leg y
lambdar12y =[1,0,0,0,0,0;
0,0,1,0,0,0;
0,0,0,1,0,0;
0,0,0,0,1,0;
0,0,0,0,0,1];
lambdar34y = [1,0,0,0,0,0;
0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,1,0,0;
0,0,0,0,0,1];
lambdar56y = [1,0,0,0,0,0;
0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,1,0,0;
0,0,0,0,0,1];
lambdar78y = [1,0,0,0,0,0;
0,1,0,0,0,0;
0,0,1,0,0,0;
0,0,0,1,0,0;
0,0,0,0,0,1];
end