close all;clc;clear
file = [];
opt.robot_def = 'direct';
opt.KM_method = 'MDH';
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];
robot = get_Kinematics(robot, opt);
%TODO verify kinematics via robotics toolbox or other software result

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);