-
Notifications
You must be signed in to change notification settings - Fork 1.2k
/
example_scenarios.yaml
63 lines (62 loc) · 1.87 KB
/
example_scenarios.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
# This file is licensed under the MIT-0 License.
# See LICENSE-MIT-0.txt in the current directory.
# This demo simulation shows an IIWA arm with an attached WSG gripper.
Demo:
directives:
- add_model:
name: amazon_table
file: package://drake/examples/manipulation_station/models/amazon_table_simplified.sdf
- add_weld:
parent: world
child: amazon_table::amazon_table
- 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_frame:
name: iiwa_on_world
X_PF:
base_frame: world
translation: [0, -0.7, 0.1]
rotation: !Rpy { deg: [0, 0, 90] }
- add_weld:
parent: iiwa_on_world
child: iiwa::base
- 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
lcm_buses:
driver_traffic:
# Use a non-default LCM url to communicate with the robot.
lcm_url: udpm://239.241.129.92:20185?ttl=0
cameras:
oracular_view:
name: camera_0
X_PB:
translation: [1.5, 0.8, 1.25]
rotation: !Rpy { deg: [-120, 5, 125] }
model_drivers:
iiwa: !IiwaDriver
hand_model_name: wsg
lcm_bus: driver_traffic
wsg: !SchunkWsgDriver
lcm_bus: driver_traffic