function base_regrssor  = base_6AxisFT_regressor_R1000_DVT(theta,dtheta,ddtheta,baseQR)
opt.robot_def = 'direct';
opt.KM_method = 'SCREW';
opt.Vel_method = 'Direct';
opt.LD_method = 'Direct';
opt.debug = false;
opt.robotName = 'R1000_DVT';
opt.reGenerate = false;
opt.Isreal = true;
opt.isJointTorqueSensor = false;
opt.isSixAxisFTSensor = true;
file=[];

robot = get_robot_R1000(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt);
robot = get_Kinematics(robot, opt);
robot = get_velocity(robot, opt);
robot = get_regressor(robot, opt);
% get base params
robot.baseQR = baseQR;
robot.baseQR.regressor = robot.regressor.U*robot.baseQR.permutationMatrix(:,1:robot.baseQR.numberOfBaseParameters);
base_regrssor = robot.baseQR.regressor;