# The trio of `add_scoped_*.yaml` files are a test yaml structure that uses
# each feature of the model directives system.  This file has only simple
# directives with no inclusion and is also used as a smoke test of the basic
# directives.

directives:
- add_model:
    # This name will be prefixed by `model_namespace`.
    name: simple_model
    file: package://process_model_directives_test/simple_model.sdf

- add_frame:
    # This will implicitly resolve to the `simple_model` instance.
    name: sub_added_frame
    X_PF:
      base_frame: simple_model::frame
      translation: [10, 20, 30]

- add_frame:
    # This will explicitly resolve to the `simple_model` instance.
    name: simple_model::sub_added_frame_explicit
    X_PF:
      base_frame: simple_model::frame
      translation: [10, 20, 30]

- add_model:
    name: extra_model
    file: package://process_model_directives_test/simple_model.sdf

- add_weld:
    parent: simple_model::frame
    child: extra_model::base

- add_collision_filter_group:
    name: sub_filter_group
    members:
    - extra_model::base
    - simple_model::base
