diff --git a/verify_regressor.m b/verify_regressor.m
index 9c3a96c..3f48c67 100644
--- a/verify_regressor.m
+++ b/verify_regressor.m
@@ -56,6 +56,8 @@ j=1;
 Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12);
 j=2;
 Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M23);
+%% Check if screw method is equal to regressor
+isequal(simplify(tau),simplify(tau_mat))
 %% Numerical
 clear pi;
 ndof = robot.ndof;