def METHOD_NAME(self):
    self.model = pin.buildSampleModelHumanoidRandom()
    self.parent_idx = self.model.getJointId("rarm2_joint") if self.model.existJointName("rarm2_joint") else (self.model.njoints-1)
    self.frame_name = self.model.names[self.parent_idx] + "_frame"
    self.frame_placement = pin.SE3.Random()
    self.frame_type = pin.FrameType.OP_FRAME
    self.model.addFrame(pin.Frame(self.frame_name, self.parent_idx, 0, self.frame_placement, self.frame_type))
    self.frame_idx = self.model.getFrameId(self.frame_name)