file = [];
opt.robot_def = 'direct';
opt.KM_method = 'MDH';
opt.Vel_method = 'Direct';
opt.LD_method = 'Direct';
opt.debug = true;


opt.Isreal = false;
robot = get_robot(file,opt);
% robot.theta = [1,1,0];
robot = get_Kinematics(robot, opt);

opt.Isreal = false;
robot = get_velocity(robot, opt);
robot = get_regressor(robot,opt);