diff --git a/Identification_main.m b/Identification_main.m
index eeab42f..af8abee 100644
--- a/Identification_main.m
+++ b/Identification_main.m
@@ -5,7 +5,7 @@ opt.KM_method = 'SCREW';
 opt.Vel_method = 'Direct';
 opt.LD_method = 'Direct';
 opt.debug = false;
-opt.robotName = 'R1000_EVT';
+opt.robotName = 'R1000_DVT';
 opt.reGenerate = false;
 opt.Isreal = true;
 opt.isJointTorqueSensor = true;
@@ -20,16 +20,16 @@ robot = feval(get_robot_func,theta,dtheta,ddtheta,file,opt);
 get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
 robot = feval(get_Kinematics_func,robot,opt);
 
-% R1000_Dynamics_num;
+R1000_Dynamics_num;
 % R1000_Dynamics;
-robot = get_velocity(robot, opt);
-robot = get_regressor(robot,opt);
+% robot = get_velocity(robot, opt);
+% robot = get_regressor(robot,opt);
 % symbol matched
 % verify_regressor_R1000;
-robot = get_baseParams(robot, opt);
+% robot = get_baseParams(robot, opt);
 % readDataFile;
 % robot.posData = posData;
 % robot.currentData = currentData;
 % robot = estimate_dyn(robot,opt);
 % robot = estimate_dyn_form_data(robot,opt);
-robot = estimate_dyn_MLS(robot,opt);
\ No newline at end of file
+% robot = estimate_dyn_MLS(robot,opt);
\ No newline at end of file
diff --git a/R1000_Dynamics_num.m b/R1000_Dynamics_num.m
index 43d8403..a1806c4 100644
--- a/R1000_Dynamics_num.m
+++ b/R1000_Dynamics_num.m
@@ -7,15 +7,15 @@ q_J = sin(2*pi*f*time);
 qd_J = (2*pi*f)*cos(2*pi*f*time);
 qdd_J = -(2*pi*f)^2*sin(2*pi*f*time);
 zero_ = zeros(1,length(q_J));
-q_J = pi/4*ones(1,length(q_J));
+q_J = 0.3*ones(1,length(q_J));
 % Dynamics parameters
 link_mass = robot.m;
 com_pos = robot.com;
 link_inertia = robot.I;
 
-thetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
-dthetalist = 1000*[q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J]';
-ddthetalist = 1000*[q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J]';
+thetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;q_J]';
+dthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
+ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
 
 % Get general mass matrix
 Glist=[];
diff --git a/codegen/base_regressor_R1000_DVT.m b/codegen/base_regressor_R1000_DVT.m
index 73da0ef..4f76b51 100644
--- a/codegen/base_regressor_R1000_DVT.m
+++ b/codegen/base_regressor_R1000_DVT.m
@@ -4,15 +4,15 @@ opt.KM_method = 'SCREW';
 opt.Vel_method = 'Direct';
 opt.LD_method = 'Direct';
 opt.debug = false;
-opt.robotName = 'R1000_EVT';
+opt.robotName = 'R1000_DVT';
 opt.reGenerate = false;
 opt.Isreal = true;
 opt.isJointTorqueSensor = true;
 opt.isSixAxisFTSensor = false;
 file=[];
 
-robot = get_robot_R1000_EVT(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt);
-robot = get_Kinematics_EVT(robot, opt);
+robot = get_robot_R1000_DVT(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt);
+robot = get_Kinematics_R1000_DVT(robot, opt);
 robot = get_velocity(robot, opt);
 robot = get_regressor(robot, opt);
 % get base params
diff --git a/codegen/standard_regressor_R1000_DVT.m b/codegen/standard_regressor_R1000_DVT.m
index 8628eba..4e76399 100644
--- a/codegen/standard_regressor_R1000_DVT.m
+++ b/codegen/standard_regressor_R1000_DVT.m
@@ -11,8 +11,8 @@ opt.isJointTorqueSensor = false;
 opt.isSixAxisFTSensor = true;
 file=[];
 
-robot = get_robot_R1000_EVT(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt);
-robot = get_Kinematics_EVT(robot, opt);
+robot = get_robot_R1000_DVT(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt);
+robot = get_Kinematics_R1000_DVT(robot, opt);
 robot = get_velocity(robot, opt);
 robot = get_regressor(robot, opt);
 standard_regrssor = robot.regressor.K;
\ No newline at end of file