directives:
- add_model:
    name: panda
    file: package://drake_models/franka_description/urdf/panda_arm.urdf
- add_weld:
    parent: world
    child: panda::panda_link0
- add_model:
    name: panda_hand
    file: package://drake_models/franka_description/urdf/panda_hand.urdf
- add_weld:
    parent: panda::panda_link8
    child: panda_hand::panda_hand
    X_PC:
      translation: [0, 0, 0]
      rotation: !Rpy { deg: [0, 0, -45] }
