directives:
- add_model:
    name: bin
    file: package://drake_models/manipulation_station/bin.sdf
- add_weld:
    parent: world
    child: bin::bin_base
    X_PC:
      translation: [0, 0, 0.20]
- add_model:
    name: ball_1
    file: package://drake_models/manipulation_station/sphere.sdf
    default_free_body_pose: { base_link: { translation: [0.08, 0.01, 0.3] } }
- add_model:
    name: ball_2
    file: package://drake_models/manipulation_station/sphere.sdf
    default_free_body_pose: { base_link: { translation: [0.07, 0.02, 0.6] } }
- add_model:
    name: ball_3
    file: package://drake_models/manipulation_station/sphere.sdf
    default_free_body_pose: { base_link: { translation: [0.06, 0.03, 0.9] } }
- add_model:
    name: ball_4
    file: package://drake_models/manipulation_station/sphere.sdf
    default_free_body_pose: { base_link: { translation: [0.05, 0.04, 1.2] } }
- add_model:
    name: ball_5
    file: package://drake_models/manipulation_station/sphere.sdf
    default_free_body_pose: { base_link: { translation: [0.04, 0.05, 1.5] } }
- add_model:
    name: ball_6
    file: package://drake_models/manipulation_station/sphere.sdf
    default_free_body_pose: { base_link: { translation: [0.03, 0.06, 1.8] } }
- add_model:
    name: ball_7
    file: package://drake_models/manipulation_station/sphere.sdf
    default_free_body_pose: { base_link: { translation: [0.02, 0.07, 2.1] } }
- add_model:
    name: ball_8
    file: package://drake_models/manipulation_station/sphere.sdf
    default_free_body_pose: { base_link: { translation: [0.01, 0.08, 2.4] } }
- add_model:
    name: ball_9
    file: package://drake_models/manipulation_station/sphere.sdf
    default_free_body_pose: { base_link: { translation: [0.00, 0.09, 2.7] } }
