Created a URDF Frankie robot

Author: jhavl

examples/test.py

@@ -14,13 +14,15 @@
 env.launch()
 
 # Create a Panda robot object
-puma = rtb.models.Puma560()
+r = rtb.models.Frankie()
 
 # Set joint angles to ready configuration
-puma.q = puma.qr
+r.q = r.qr
 
 # Add the puma to the simulator
-env.add(puma)
+env.add(r)
+
+env.hold()
 
 # Tep = puma.fkine() * sm.SE3.Tz(0.1)
 

roboticstoolbox/models/URDF/Frankie.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+
+import numpy as np
+from roboticstoolbox.robot.ERobot import ERobot
+
+
+class Frankie(ERobot):
+    """
+    Class that imports a Frankie URDF model
+
+    ``Frankie()`` is a class which imports a Frankie robot definition
+    from a URDF file.  The model describes its kinematic and graphical
+    characteristics.
+
+    .. runblock:: pycon
+
+        >>> import roboticstoolbox as rtb
+        >>> robot = rtb.models.URDF.Frankie()
+        >>> print(robot)
+
+    Defined joint configurations are:
+
+    - qz, zero joint angle configuration, 'L' shaped configuration
+    - qr, vertical 'READY' configuration
+    - qs, arm is stretched out in the x-direction
+    - qn, arm is at a nominal non-singular configuration
+
+    .. codeauthor:: Jesse Haviland
+    .. sectionauthor:: Peter Corke
+    """
+    def __init__(self):
+
+        elinks, name = super().urdf_to_ets_args(
+            "franka_description/robots/frankie_arm_hand.urdf.xacro")
+
+        super().__init__(
+            elinks,
+            name=name,
+            manufacturer='Franka Emika',
+            gripper_links=elinks[11]
+        )
+
+        print(self)
+
+        self.qdlim = np.array([
+            4.0, 4.0,
+            2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100,
+            3.0, 3.0])
+
+        self.addconfiguration("qz", np.array(
+            [0, 0, 0, 0, 0, 0, 0, 0, 0]))
+
+        self.addconfiguration("qr", np.array(
+            [0, 0, 0, -0.3, 0, -2.2, 0, 2.0, np.pi/4]))
+
+
+if __name__ == '__main__':   # pragma nocover
+
+    robot = Frankie()
+    print(robot)

roboticstoolbox/models/URDF/__init__.py

@@ -1,4 +1,5 @@
 from roboticstoolbox.models.URDF.Panda import Panda
+from roboticstoolbox.models.URDF.Frankie import Frankie
 from roboticstoolbox.models.URDF.UR3 import UR3
 from roboticstoolbox.models.URDF.UR5 import UR5
 from roboticstoolbox.models.URDF.UR10 import UR10
@@ -17,6 +18,7 @@
 
 __all__ = [
     'Panda',
+    'Frankie',
     'UR3',
     'UR5',
     'UR10',

roboticstoolbox/models/URDF/xacro/franka_description/robots/frankie_arm.urdf.xacro

@@ -0,0 +1,5 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="frankie">
+  <xacro:include filename="$(find franka_description)/robots/frankie_arm.xacro" />
+  <xacro:panda_arm safety_distance="0.00"/>
+</robot>