function robot = get_Kinematics(robot, opt)
if(opt.Isreal)
    switch opt.KM_method
        case 'SCREW'
            % Get transformation for each joint
            thetalist = robot.theta;
            Slist = robot.slist;
            % TODO:move to lib
            for j = 1:length(thetalist)
                T=robot.Home.M(:,:,j);
                for i = j: -1: 1
                    T = MatrixExp6(VecTose3(Slist(:, i) * thetalist(i))) * T;
                end
                robot.TW(:,:,j) = T;
            end
            for i = 1:length(thetalist)
                if i == 1
                    robot.T(:,:,i) = robot.TW(:,:,i);
                else
                    robot.T(:,:,i) = TransInv(robot.TW(:,:,i-1))*robot.TW(:,:,i);
                end
            end
            robot.Fkine = robot.TW(:,:,end);
            
            %stack result into kine structure
            robot.kine.TW = robot.TW;
            robot.kine.T = robot.T;
            robot.kine.Fkine = robot.Fkine;
            % get the CG at the world base frame
            % FIXME: Fix this hack 
            ct=[];
            Mlist_CG_Base=[];
            com_pos_R1 = robot.com_pos_R1;
            com_pos_R2 = robot.com_pos_R2;
            for i = 1:length(thetalist)
                if i == 1
                    ct(:,i) = com_pos_R1(:,i);
                elseif i< 9
                    ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i);
                else
                    % HACK
                    ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
                end
                robot.Home.com(:,i) = ct(:,i);
                M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i));
                Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base);
            end
            robot.kine.Mlist_CG_Base = Mlist_CG_Base;
            % get the CG at the last GC frame
            Mlist_CG=[];
            for i = 1:length(thetalist)
                if i == 1
                    Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i);
                else
                    Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i);
                end
            end
            M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
            Mlist_CG = cat(3, Mlist_CG, M);
            robot.kine.Mlist_CG = Mlist_CG;
        case 'SDH'
            theta = robot.theta;
            alpha = robot.alpha;
            a = robot.a;
            d = robot.d;
            robot.Fkine = eye(4,4);
            ndof = length(theta); % special for MDH
            % init transform matrix
            robot.R = zeros([3,3,ndof]);
            robot.t = zeros([3,1,ndof]);
            robot.T = zeros([4,4,ndof]);
            for i = 1:ndof
                robot.R(:,:,i) = [cos(theta(i)) -sin(theta(i))*cos(alpha(i)) sin(theta(i))*sin(alpha(i));...
                                  sin(theta(i)) cos(theta(i))*cos(alpha(i)) -cos(theta(i))*sin(alpha(i));...
                                  0 sin(alpha(i)) cos(alpha(i))];
                robot.t(:,:,i) = [a(i)*cos(theta(i));a(i)*sin(theta(i));d(i)];
                Transform = eye(4,4);
                Transform(1:3,1:3) = robot.R(:,:,i);
                Transform(1:3,4) = robot.t(:,:,i);
                robot.T(:,:,i) = Transform;
                robot.Fkine = robot.Fkine*robot.T(:,:,i);
            end
        case 'MDH'
            theta = robot.theta;
            alpha = robot.alpha;
            a = robot.a;
            d = robot.d;
            robot.Fkine = eye(4,4);
            ndof = length(theta); % special for MDH
            % init transform matrix
            robot.R = zeros([3,3,ndof]);
            robot.t = zeros([3,1,ndof]);
            robot.T = zeros([4,4,ndof]);
            for i = 1:ndof
                robot.R(:,:,i) = [cos(theta(i)) -sin(theta(i)) 0;...
                    sin(theta(i))*cos(alpha(i)) cos(theta(i))*cos(alpha(i)) -sin(alpha(i));...
                    sin(theta(i))*sin(alpha(i)) cos(theta(i))*sin(alpha(i)) cos(alpha(i))];
                robot.t(:,:,i) = [a(i);-d(i)*sin(alpha(i));d(i)*cos(alpha(i))];
                Transform = eye(4,4);
                Transform(1:3,1:3) = robot.R(:,:,i);
                Transform(1:3,4) = robot.t(:,:,i);
                robot.T(:,:,i) = Transform;
                robot.Fkine = robot.Fkine*robot.T(:,:,i);
            end
        otherwise
            disp('Bad opt.KM_method!')
            return;
    end
else
    switch opt.KM_method
        case 'SCREW'
            % Get transformation for each joint
            thetalist = robot.theta;
            Slist = robot.slist;
            % TODO:move to lib
            for j = 1:length(thetalist)
                T=robot.Home.M(:,:,j);
                for i = j: -1: 1
                    T = MatrixExp6_Sym(VecTose3(Slist(:, i) * thetalist(i))) * T;
                end
                robot.TW(:,:,j) = T;
            end
            for i = 1:length(thetalist)
                if i == 1
                    robot.T(:,:,i) = robot.TW(:,:,i);
                else
                    robot.T(:,:,i) = TransInv(robot.TW(:,:,i-1))*robot.TW(:,:,i);
                end
                robot.R(:,:,i) = robot.T(1:3,1:3,i);
                robot.t(:,:,i) = robot.T(1:3,4,i);
            end
            robot.Fkine = robot.TW(:,:,end);

            %stack result into kine structure
            robot.kine.TW = robot.TW;
            robot.kine.T = robot.T;
            robot.kine.Fkine = robot.Fkine;
            % get the CG at the world base frame
            % FIXME: Fix this hack
            ct=[];
            Mlist_CG_Base=[];
            com_pos_R1 = robot.com_pos_R1;
            com_pos_R2 = robot.com_pos_R2;
            for i = 1:length(thetalist)
                if i == 1
                    ct(:,i) = com_pos_R1(:,i);
                elseif i< 9
                    ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i);
                else
                    % HACK
                    ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
                end
                robot.Home.com(:,i) = ct(:,i);
                M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i));
                Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base);
            end
            % get the CG at the last GC frame
            Mlist_CG=[];
            for i = 1:length(thetalist)
                if i == 1
                    Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i);
                else
                    Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i);
                end
            end
            M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
            Mlist_CG = cat(3, Mlist_CG, M);
            % Get the end efforce transformation in each joint reference frame
            Mlist_ED = [];
            for i = 1:length(thetalist)
                M = robot.T(:,:,i);
                Mlist_ED = cat(3, Mlist_ED, M);
            end
            M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
            Mlist_ED = cat(3, Mlist_ED, M);
            % stack result
            robot.kine.Mlist_CG_Base = Mlist_CG_Base;
            robot.kine.Mlist_CG = Mlist_CG;
            robot.kine.Mlist_ED = Mlist_ED;
        case 'SDH'
        case 'MDH'
            theta = robot.theta;
            alpha = robot.alpha;
            a = robot.a;
            d = robot.d;
            robot.Fkine = eye(4,4);
            ndof = length(theta); % special for MDH
            % init transform matrix
            robot.R = sym(zeros([3,3,ndof]));
            robot.t = sym(zeros([3,1,ndof]));
            robot.T = sym(zeros([4,4,ndof]));
            for i = 1:ndof
                robot.R(:,:,i) = [cos(theta(i)) -sin(theta(i)) 0;...
                    sin(theta(i))*cos(alpha(i)) cos(theta(i))*cos(alpha(i)) -sin(alpha(i));...
                    sin(theta(i))*sin(alpha(i)) cos(theta(i))*sin(alpha(i)) cos(alpha(i))];
                robot.t(:,:,i) = [a(i);-d(i)*sin(alpha(i));d(i)*cos(alpha(i))];
                Transform = sym(eye(4,4));
                Transform(1:3,1:3) = robot.R(:,:,i);
                Transform(1:3,4) = robot.t(:,:,i);
                robot.T(:,:,i) = Transform;
                robot.Fkine = robot.Fkine*robot.T(:,:,i);
            end
        otherwise
            disp('Bad opt.KM_method!')
            return;
    end
end