Bi_Manual_Robot/clutter_clearing_two_arms.dmd.yaml at main · idanshen/Bi_Manual_Robot · GitHub

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directives:
- add_model:
    name: iiwa1
    file: package://drake/manipulation/models/iiwa_description/iiwa7/iiwa7_no_collision.sdf
    default_joint_positions:
        iiwa_joint_1: [1.57]
        iiwa_joint_2: [0.1]
        iiwa_joint_3: [0]
        iiwa_joint_4: [-1.2]
        iiwa_joint_5: [0]
        iiwa_joint_6: [ 1.6]
        iiwa_joint_7: [0]
- add_weld:
    parent: world
    child: iiwa1::iiwa_link_0
    X_PC:
        translation: [0.7, -0.7, 0.0]
        rotation: !Rpy { deg: [0, 0, 90]}
- add_model:
    name: wsg
    file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf
- add_weld:
    parent: iiwa1::iiwa_link_7
    child: wsg::body
    X_PC:
        translation: [0., -0., 0.09]
        rotation: !Rpy { deg: [90, 0, 90]}
- add_model:
    name: iiwa2
    file: package://drake/manipulation/models/iiwa_description/iiwa7/iiwa7_no_collision.sdf
    default_joint_positions:
        iiwa_joint_1: [-1.57]
        iiwa_joint_2: [0.1]
        iiwa_joint_3: [0]
        iiwa_joint_4: [1.2]
        iiwa_joint_5: [0]
        iiwa_joint_6: [1.6]
        iiwa_joint_7: [0]
- add_weld:
    parent: world
    child: iiwa2::iiwa_link_0
    X_PC:
        translation: [-0.0, 0.0, 0.0]
        rotation: !Rpy { deg: [0, 0, 0]}
- add_model:
    name: wsg2
    file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf
- add_weld:
    parent: iiwa2::iiwa_link_7
    child: wsg2::body
    X_PC:
        translation: [0.0, 0.0, 0.09]
        rotation: !Rpy { deg: [90, 0, 90]}
- add_model:
    name: foam_brick
    file: package://drake/examples/manipulation_station/models/061_foam_brick.sdf
    default_free_body_pose:
        base_link:
            translation: [0, -0.6, 0.2]
- add_directives:
    file: package://manipulation/two_bins_w_cameras_two_arms.dmd.yaml