function robot = get_robot_R1000_DVT(theta,dtheta,ddtheta,opt)
switch opt.robot_def
    case 'direct'
        robot = struct;
        robot.ndof = 9;
        % ------------------------------------------------------------------------
        % Structure define
        % ------------------------------------------------------------------------
        robot.m = zeros(1,9);
        robot.I = zeros(3,3,9);
        robot.com = zeros(3,9);
        robot.axis = zeros(3,9);
        robot.com_pos_R1 = zeros(3,9);
        robot.com_pos_R2 = zeros(3,9);
        robot.slist = zeros(6,9);
        robot.theta = zeros(9,1);
        robot.dtheta = zeros([9,1]);
        robot.ddtheta = zeros([9,1]);
        robot.Home.com = zeros(3,9);
        robot.Home.R = zeros(3,3,9);
        robot.Home.P = zeros(3,9);
        robot.Home.M = zeros(4,4,9);
        robot.kine.TW = zeros(4,4,9);
        robot.kine.Fkine = zeros(4,4);
        robot.kine.T = zeros(4,4,9);
        robot.kine.R = zeros(3,3,9);
        robot.kine.t = zeros(3,1,9);
        robot.kine.Mlist_CG_Base = zeros(4,4,10);
        robot.kine.Mlist_CG = zeros(4,4,10);
        robot.kine.Mlist_ED = zeros(4,4,10);
        robot.gravity = zeros(3,1);
        robot.pi = zeros(10,9);
        robot.vel.w=zeros(3,9);
        robot.vel.dw=zeros(3,9);
        robot.vel.v=zeros(3,9);
        robot.vel.dv=zeros(3,9);
        robot.I_vec=zeros(6,9);
        robot.regressor.A = zeros(6,10,9);
        robot.regressor.U = zeros(54,90);
        robot.regressor.K = zeros(9,90);
        % ------------------------------------------------------------------------
        % Dynamics parameters
        % ------------------------------------------------------------------------
        link_mass = [17.42,7.7,2.42,5.19,2.22,1.8,2.31,1.73,1.2];
        % DVT
%         link_mass = [17.42,7.7,2.42,5.19,2.22,1.8,2.31,1.73,1.2];
        axis_of_rot = zeros(3,robot.ndof); 
        axis_of_rot(:,1) = [0;0;1];
        axis_of_rot(:,2) = [0;-1;0];
        axis_of_rot(:,3) = [0;-1;0];
        axis_of_rot(:,4) = [0;-1;0];
        axis_of_rot(:,5) = [0;0;1];
        axis_of_rot(:,6) = [1;0;0];
        axis_of_rot(:,7) = [0;0;-1];
        axis_of_rot(:,8) = [0;-1;0];
        axis_of_rot(:,9) = [0;0;0];

        com_pos_R1 = zeros(3,9); 
        com_pos_R2= zeros(3,9); 

        com_pos_R1(:,1)=[9.7435250e+01  8.3517655e-01  1.2246547e+02]'*10^-3;
        com_pos_R2(:,1)=[-1.0040117e+02 -9.4164823e+01 -3.4522260e+01]'*10^-3;
        com_pos_R1(:,2)=[3.7345395e+02 -5.5328829e+01 -4.4313141e-02]'*10^-3;
        com_pos_R2(:,2)=[ -1.2654643e+02  9.6371171e+01 -4.4094190e-02]'*10^-3;
        com_pos_R1(:,3)=[1.8811711e+02 -7.9651429e+00 -4.9225523e-04 ]'*10^-3;
        com_pos_R2(:,3)=[-2.6188289e+02  2.8348571e+00 -4.9225523e-04 ]'*10^-3;
        com_pos_R1(:,4)=[ 5.4048685e+01  5.8463901e+01 -5.0915631e+00 ]'*10^-3;
        com_pos_R2(:,4)=[ -6.5951315e+01 -9.0360991e+00  5.2908437e+01]'*10^-3;
        com_pos_R1(:,5)=[1.3028528e+02  4.8953539e-02  4.6198421e+01]'*10^-3;
        com_pos_R2(:,5)=[-9.5814715e+01  4.8953539e-02 -1.2301579e+01 ]'*10^-3;
        com_pos_R1(:,6)=[4.9059639e+01  5.9928547e-02 -2.8858572e+01]'*10^-3;
        com_pos_R2(:,6)=[-4.7403608e+00  5.9928547e-02  6.2741428e+01]'*10^-3;
        com_pos_R1(:,7)=[2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3;
        com_pos_R2(:,7)=[2.3210318e-02 -9.5031144e+00  2.0257876e+02 ]'*10^-3;
        com_pos_R1(:,8)=[-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3;
        com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01  1.4875409e+01]'*10^-3; % don't use
        com_pos_R1(:,9)=[-9.6776846e-02  1.4179201e-01 -3.4242667e+01]'*10^-3;
        % stack result
        robot.com_pos_R1 = com_pos_R1;
        robot.com_pos_R2 = com_pos_R2;
        % FIXME:fix this hack
        % Get 3D coordinate of CO
        co=zeros(3,robot.ndof-1);
        for i = 1:robot.ndof-1
            if i == 1
                co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i);
            elseif i<8
                %From base to ISA Origin
                co(:,i) = co(:,i-1)+com_pos_R1(:,i)-com_pos_R2(:,i);
            else
                %From base to ISA Origin
                co(:,i) = co(:,i-1)-[0.23;0;0.05896];
            end
        end
        co = [zeros(3,1),co];
        % the inertia tensor wrt the frame oriented as the body frame and with the
        % origin in the COM
        link_inertia = zeros(3,3,robot.ndof);
link_inertia(:,:,1) = [[1.1212091e+05 -1.1694021e+04 -4.7186593e+04];...
            [-1.1694021e+04  2.3289532e+05 -3.0395414e+02];...
            [-4.7186593e+04 -3.0395414e+02  2.0033875e+05]]*10^-6;
        link_inertia(:,:,2) = [[3.7926328e+04 -9.0569033e+01  4.7526575e+04];...
            [-9.0569033e+01  2.9714754e+05  6.8396715e+00];...
            [4.7526575e+04  6.8396715e+00  2.8138392e+05]]*10^-6;
        link_inertia(:,:,3) = [[4.4513887e+03  1.9981964e-01 -3.0303891e+02];...
            [1.9981964e-01  6.7952039e+04 -8.8585864e-02];...
            [-3.0303891e+02 -8.8585864e-02  6.9958344e+04]]*10^-6;
        link_inertia(:,:,4) = [[1.1642351e+04  2.2997175e+03  2.9159431e+03];...
            [2.2997175e+03  2.6031269e+04 -1.3518384e+02];...
            [2.9159431e+03 -1.3518384e+02  2.4694742e+04]]*10^-6;
        link_inertia(:,:,5) = [[3.0930544e+03  8.3558814e-01 -2.8169092e+03];...
            [8.3558814e-01  1.2796446e+04 -3.3666469e+00];...
            [-2.8169092e+03 -3.3666469e+00  1.2128856e+04]]*10^-6;
        link_inertia(:,:,6) = [[3.6635776e+03 -7.0081461e+00  2.2392870e+00];...
            [-7.0081461e+00  1.8152305e+03 -2.4828765e+02];...
            [2.2392870e+00 -2.4828765e+02  3.4602935e+03]]*10^-6;
        link_inertia(:,:,7) = [[1.3662652e+04 -3.6340953e+00  4.4011670e-01];...
            [-3.6340953e+00  1.3222824e+04 -4.3625500e+02];...
            [ 4.4011670e-01 -4.3625500e+02  2.2500397e+03]]*10^-6;
        link_inertia(:,:,8) = [[1.5162872e+03  -4.6245133e+01  4.4556929e+03];...
            [-4.6245133e+01  5.9901606e+04  6.0350548e+0];...
            [4.4556929e+03  6.0350548e+0  5.8819998e+04]]*10^-6;
        link_inertia(:,:,9) = [[1.1730106e+03  3.3834506e+0  4.6097678e+01];...
            [3.3834506e+0  1.7996852e+03  5.2088778e+0];...
            [4.6097678e+01  5.2088778e+0  1.3960734e+03]]*10^-6;
        % manipulator regressor
        com_pos = com_pos_R1;
        for i = 1:robot.ndof
            robot.m(i) = link_mass(i);
            robot.axis(:,i) = axis_of_rot(i);
            robot.com(:,i) = com_pos(:,i);
            robot.I(:,:,i) = link_inertia(:,:,i);
        end
        % ------------------------------------------------------------------------
        % Kinematics parameters
        % ------------------------------------------------------------------------
        if(opt.Isreal)
            robot.theta = theta; robot.dtheta = dtheta; robot.ddtheta = ddtheta;
%             robot.link_type = ['R','R','R','R','R','R','R','R','P'];
            switch opt.KM_method
                case 'SCREW'
                    robot.Home.R(:,:,1) = [[1;0;0],[0;1;0],[0;0;1]];
                    robot.Home.R(:,:,2) = [[1;0;0],[0;0;1],[0;-1;0]];
                    robot.Home.R(:,:,3) = [[1;0;0],[0;0;1],[0;-1;0]];
                    robot.Home.R(:,:,4) = [[1;0;0],[0;0;1],[0;-1;0]];
                    robot.Home.R(:,:,5) = [[0;-1;0],[1;0;0],[0;0;1]];
                    robot.Home.R(:,:,6) = [[0;-1;0],[0;0;-1],[1;0;0]];
                    robot.Home.R(:,:,7) = [[1;0;0],[0;-1;0],[0;0;-1]];
                    robot.Home.R(:,:,8) = [[0;0;-1],[1;0;0],[0;-1;0]];
                    robot.Home.R(:,:,9) = [[0;0;-1],[0;1;0],[1;0;0]];
                    for i=1:robot.ndof
                        robot.Home.P(:,i) = co(:,i);
                        robot.Home.M(:,:,i) = RpToTrans(robot.Home.R(:,:,i),robot.Home.P(:,i));
                    end
                    robot.slist=[[0;0;1;co(:,1)],...
                        [0;-1;0;cross(-[0;-1;0],co(:,2))]...
                        [0;-1;0;cross(-[0;-1;0],co(:,3))]...
                        [0;-1;0;cross(-[0;-1;0],co(:,4))]...
                        [0;0;1;cross(-[0;0;1],co(:,5))]...
                        [1;0;0;cross(-[1;0;0],co(:,6))]...
                        [0;0;-1;cross(-[0;0;-1],co(:,7))]...
                        [0;-1;0;cross(-[0;-1;0],co(:,8))]...
                        [0;0;0;1;0;0]];
                otherwise
                    disp('Bad opt.KM_method!')
                    return;
            end
        end
    otherwise
        robot = [];
        disp('Bad robot define options!')
        return
end
%Gravity
gravity = [0;0;-9.806];
robot.gravity = gravity;