# Only ever uses the defaults.
Defaults: {}

# Has at least one example of every kind of top-level option.
# The specific details of the sub-structs are tested elsewhere.
OneOfEverything:
  random_seed: 1
  simulation_duration: 3.14
  simulator_config:
    target_realtime_rate: 5.0
  plant_config:
    stiction_tolerance: 1e-2
  scene_graph_config:
    default_proximity_properties:
      compliance_type: "compliant"
  directives:
  - add_model:
      name: alice
      file: package://drake/examples/pendulum/Pendulum.urdf
  lcm_buses:
    extra_bus: {}
  model_drivers:
    alice: !ZeroForceDriver {}
  cameras:
    arbitrary_camera_name:
      name: camera_0
      lcm_bus: extra_bus
  visualization:
    lcm_bus: extra_bus
    publish_period: 0.125
    default_illustration_color:
      rgba: [0.8, 0.8, 0.8]
