directives:
- add_model:
    name: iiwa7
    file: package://drake_models/iiwa_description/sdf/iiwa7_no_collision.sdf
- add_model:
    name: schunk_wsg
    file: package://drake_models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf
# Weld iiwa7 to the world frame.
- add_weld:
    parent: world
    child: iiwa7::iiwa_link_0
# Weld schunk_wsg to iiwa7.
- add_frame:
    name: schunk_wsg_on_iiwa
    X_PF:
      base_frame: iiwa_link_7
      translation: [0, 0, 0.114]
      rotation: !Rpy { deg: [90, 0, 90] }
- add_weld:
    parent: schunk_wsg_on_iiwa
    child: schunk_wsg::body
# Add `grasp_frame` to schunk_wsg model.
- add_frame:
    name: schunk_wsg::grasp_frame
    X_PF:
      base_frame: schunk_wsg::body_frame
      translation: [0.0, 0.11, 0.0]
      rotation: !Rpy { deg: [0, 0, 0] }
