close all;clc;clear
file = [];
opt.robot_def = 'direct';
opt.KM_method = 'SCREW';
opt.Vel_method = 'Direct';
opt.LD_method = 'Direct';
opt.debug = true;
opt.robotName = 'R1000';

opt.Isreal = true;
robot = get_robot_R1000(file,opt);
% robot.theta = [1,1,0];

%TODO verify kinematics via robotics toolbox or other software result
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;

% Get 3D coordinate of CO
co=[];
for i = 1:8
    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;0;0.05896];
    end
end
co = [zeros(3,1),co];

% temp slist
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]];

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=1:9
robot.Home.P(:,i) = co(:,i);
robot.Home.M(:,:,i) = RpToTrans(robot.Home.R(:,:,i),robot.Home.P(:,i));
end
robot.link_type = ['R','R','R','R','R','R','R','R','P'];

robot = get_Kinematics(robot, opt);

R1000_Dynamics_num;
% opt.Isreal = false;
% robot = get_velocity(robot, opt);
% robot = get_regressor(robot,opt);
% symbol matched
% verify_regressor
% robot = get_baseParams(robot, opt);