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+#!/usr/bin/env python
+
+import numpy as np
+from roboticstoolbox.robot.Robot import Robot
+from spatialmath import SE3
+import roboticstoolbox as rtb
+
+class Lite6(Robot):
+    """
+    Class that imports a Panda URDF model
+
+    ``Panda()`` is a class which imports a Franka-Emika Panda robot definition
+    from a URDF file.  The model describes its kinematic and graphical
+    characteristics.
+
+    .. runblock:: pycon
+
+        >>> import roboticstoolbox as rtb
+        >>> robot = rtb.models.URDF.Panda()
+        >>> 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(
+            "ufactory_description/lite6/urdf/lite6.urdf.xacro"
+        )
+
+        super().__init__(
+            links,
+            name=name,
+            manufacturer="Ufactory",
+            urdf_string=urdf_string,
+            urdf_filepath=urdf_filepath,
+        )
+
+
+        self.qdlim = np.array(
+            [2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0]
+        )
+
+        self.qr = np.array([0, -0.3, 0, -2.2, 0, 2.0])
+        self.qz = np.zeros(6)
+
+        self.addconfiguration("qr", self.qr)
+        self.addconfiguration("qz", self.qz)
+
+
+if __name__ == "__main__":  # pragma nocover
+
+    r = Lite6()
+    r.qz
+    T = r.fkine(r.qz)
+    r.plot(r.qr, backend="swift")
+
+