weizx208
diff --git a/‎roboticstoolbox/models/URDF/FrankieOmni.py
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Lines changed: 89 additions & 0 deletions
diff --git a/‎roboticstoolbox/models/URDF/__init__.py
Lines changed: 22 additions & 20 deletions b/‎roboticstoolbox/models/URDF/__init__.py
Lines changed: 22 additions & 20 deletions
diff --git a/‎rtb-data/rtbdata/xacro/franka_description/robots/frankieOmni_arm.urdf.xacro
Lines changed: 5 additions & 0 deletions b/‎rtb-data/rtbdata/xacro/franka_description/robots/frankieOmni_arm.urdf.xacro
Lines changed: 5 additions & 0 deletions
@@ -0,0 +1,89 @@
+#!/usr/bin/env python
+
+import numpy as np
+from roboticstoolbox.robot.ERobot import ERobot
+from spatialmath import SE3
+
+
+class FrankieOmni(ERobot):
+    """
+    Class that imports an Omnidirectional Frankie URDF model
+
+    ``FrankieOmni()`` is a class which imports a FrankieOmni robot definition
+    from a URDF file.  The model describes its kinematic and graphical
+    characteristics.
+
+    .. runblock:: pycon
+
+        >>> import roboticstoolbox as rtb
+        >>> robot = rtb.models.URDF.FrankieOmni()
+        >>> 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):
+
+        links, name, urdf_string, urdf_filepath = self.URDF_read(
+            "franka_description/robots/frankieOmni_arm_hand.urdf.xacro"
+        )
+
+        super().__init__(
+            links,
+            name=name,
+            manufacturer="Franka Emika",
+            gripper_links=links[12],
+            urdf_string=urdf_string,
+            urdf_filepath=urdf_filepath,
+        )
+
+        self.grippers[0].tool = SE3(0, 0, 0.1034)
+
+        self.qdlim = np.array(
+            [
+                4.0,
+                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, 0]))
+
+        self.addconfiguration(
+            "qr", np.array([0, 0, 0, 0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+        )
+
+
+if __name__ == "__main__":  # pragma nocover
+
+    robot = FrankieOmni()
+    print(robot)
+
+    for link in robot.links:
+        print(link.name)
+        print(link.isjoint)
+        print(len(link.collision))
+
+    print()
+
+    for link in robot.grippers[0].links:
+        print(link.name)
+        print(link.isjoint)
+        print(len(link.collision))
@@ -1,5 +1,6 @@
 from roboticstoolbox.models.URDF.Panda import Panda
 from roboticstoolbox.models.URDF.Frankie import Frankie
+from roboticstoolbox.models.URDF.FrankieOmni import FrankieOmni
 from roboticstoolbox.models.URDF.UR3 import UR3
 from roboticstoolbox.models.URDF.UR5 import UR5
 from roboticstoolbox.models.URDF.UR10 import UR10
@@ -20,24 +21,25 @@
 from roboticstoolbox.models.URDF.YuMi import YuMi
 
 __all__ = [
-    'Panda',
-    'Frankie',
-    'UR3',
-    'UR5',
-    'UR10',
-    'Puma560',
-    'px100',
-    'px150',
-    'rx150',
-    'rx200',
-    'vx300',
-    'vx300s',
-    'wx200',
-    'wx250',
-    'wx250s',
-    'Mico',
-    'PR2',
-    'LBR',
-    'KinovaGen3',
-    'YuMi'
+    "Panda",
+    "Frankie",
+    "FrankieOmni",
+    "UR3",
+    "UR5",
+    "UR10",
+    "Puma560",
+    "px100",
+    "px150",
+    "rx150",
+    "rx200",
+    "vx300",
+    "vx300s",
+    "wx200",
+    "wx250",
+    "wx250s",
+    "Mico",
+    "PR2",
+    "LBR",
+    "KinovaGen3",
+    "YuMi",
 ]
@@ -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/frankieOmni_arm.xacro" />
+  <xacro:panda_arm safety_distance="0.00"/>
+</robot>