example_iiwa_wsg.dmd.yaml

directives:
- add_model:
    name: iiwa
    file: package://drake/manipulation/models/iiwa_description/urdf/iiwa14_primitive_collision.urdf
    default_joint_positions:
      iiwa_joint_1: [-0.2]
      iiwa_joint_2: [0.79]
      iiwa_joint_3: [0.32]
      iiwa_joint_4: [-1.76]
      iiwa_joint_5: [-0.36]
      iiwa_joint_6: [0.64]
      iiwa_joint_7: [-0.73]
- add_model:
    name: wsg
    file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf
    default_joint_positions:
      left_finger_sliding_joint: [-0.02]
      right_finger_sliding_joint: [0.02]
- add_frame:
    name: wsg_on_iiwa
    X_PF:
      base_frame: iiwa_link_7
      translation: [0, 0, 0.114]
      rotation: !Rpy { deg: [90, 0, 90] }
- add_weld:
    parent: wsg_on_iiwa
    child: wsg::body