Write a Matlab function et expTwist(0) that builds a homogeneous transformation matrix using twists and Rodriguez's...

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Write a Matlab function et expTwist(0) that builds a homogeneous transformation matrix using twists and Rodriguez's formula. Inputs should be a 6x1 vector & and scalar 0 (rad). Output should be a 4x4 homogeneous transformation matrix. To check: verify that the inputs {= [0.4561 0.570 0.684 0.267 0.535 ¹0.802 0.4561 0.570 0.684 0.267 0.535 0.802 and 0= 1/3 result in the matrix ete = 0.535 -0.623 0.766 0.643 0.446 0 -0.356 0 1 0 and 80 result in the matrix ete = 0 01 00 10 0 0 0 1 0 0100 0.570 0.3971 -0.017 0.680 0.821 0 0.689 1 I Write a Matlab function et expTwist(0) that builds a homogeneous transformation matrix using twists and Rodriguez's formula. Inputs should be a 6x1 vector & and scalar 0 (rad). Output should be a 4x4 homogeneous transformation matrix. To check: verify that the inputs {= [0.4561 0.570 0.684 0.267 0.535 ¹0.802 0.4561 0.570 0.684 0.267 0.535 0.802 and 0= 1/3 result in the matrix ete = 0.535 -0.623 0.766 0.643 0.446 0 -0.356 0 1 0 and 80 result in the matrix ete = 0 01 00 10 0 0 0 1 0 0100 0.570 0.3971 -0.017 0.680 0.821 0 0.689 1 I

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