# This file tests the default_joint_positions and default_free_body_pose
# directives.

directives:

- add_model:
    name: simple_model
    file: package://process_model_directives_test/simple_model.sdf
    default_free_body_pose:
      base:
        translation: [1, 2, 3]
        rotation: !Rpy { deg: [5, 6, 7] }

- add_model:
    name: joint_parsing_test
    file: package://drake/multibody/benchmarks/acrobot/acrobot.urdf
    default_joint_positions:
      ShoulderJoint: [ 0.1 ]
      ElbowJoint: [ 0.2 ]
