directives.py

robot_directives = f"""
directives:
- add_model:
    name: iiwa
    file: package://drake/manipulation/models/iiwa_description/iiwa7/iiwa7_no_collision.sdf
    default_joint_positions:
        iiwa_joint_1: [0]
        iiwa_joint_2: [0.1]
        iiwa_joint_3: [0]
        iiwa_joint_4: [-1.2]
        iiwa_joint_5: [0]
        iiwa_joint_6: [0.3]
        iiwa_joint_7: [0]
- add_weld:
    parent: world
    child: iiwa::iiwa_link_0
- add_model:
    name: wsg
    file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf
- add_weld:
    parent: iiwa::iiwa_link_7
    child: wsg::body
    X_PC:
        translation: [0, 0, 0.09]
        rotation: !Rpy {{ deg: [90, 0, 90]}}
- add_model:
    name: camera
    file: model://drake/manipulation/models/realsense2_description/urdf/d415.urdf
- add_weld:
    parent: wsg::body
    child: camera::base_link
    X_PC:
        translation: [0, 0, -0.05]
        rotation: !Rpy {{deg: [0, 0, 90]}}
- add_model:
    name: work_table
    file: package://drake/examples/kuka_iiwa_arm/models/table/extra_heavy_duty_table_surface_only_collision.sdf
- add_weld:
    parent: world
    child: work_table::link
    X_PC:
        translation: [1, 0, 0]
"""