Add payload testing scenario

Author: nepfaff

models/iiwa7_with_wsg_welded.dmd.yaml

@@ -25,3 +25,10 @@ directives:
     X_PC:
         translation: [0.0, 0.0, 0.1]
         rotation: !Rpy { deg: [90.0, 0.0, 90.0]}
+
+- add_frame:
+    name: wsg_body_frame
+    X_PF:
+        base_frame: iiwa::iiwa_link_7
+        translation: [0.0, 0.0, 0.1]
+        rotation: !Rpy { deg: [90.0, 0.0, 90.0]}

models/iiwa_with_box_payload.dmd.yaml

@@ -0,0 +1,43 @@
+directives:
+- add_model:
+    name: iiwa_base_metal_plate
+    file: package://robot_payload_id/iiwa_base_metal_plate.sdf
+- add_weld:
+    parent: world
+    child: iiwa_base_metal_plate::iiwa_base_metal_plate_base_link
+    X_PC:
+        translation: [-0.005, 0.0, 0.00635]
+
+- add_model:
+    name: iiwa
+    file: package://drake/manipulation/models/iiwa_description/iiwa7/iiwa7_no_collision.sdf
+    default_joint_positions:
+        iiwa_joint_1: [0]
+        iiwa_joint_2: [0.1]
+        iiwa_joint_3: [0]
+        iiwa_joint_4: [-1.2]
+        iiwa_joint_5: [0]
+        iiwa_joint_6: [1.6]
+        iiwa_joint_7: [0]
+- add_weld:
+    parent: world
+    child: iiwa::iiwa_link_0
+    X_PC:
+        translation: [0.0, 0.0, 0.0127]
+
+- add_model:
+    name: payload_box
+    file: package://robot_payload_id/payload_box.sdf
+- add_weld:
+    parent: iiwa::iiwa_link_7
+    child: payload_box::payload_box_link
+    X_PC:
+        translation: [0.1, 0.0, 0.3]
+        rotation: !Rpy { deg: [90.0, 0.0, 30.0]}
+
+- add_frame:
+    name: payload_frame
+    X_PF:
+        base_frame: iiwa::iiwa_link_7
+        translation: [0.1, 0.0, 0.3]
+        rotation: !Rpy { deg: [90.0, 0.0, 30.0]}

models/iiwa_with_box_payload_scenario.yaml

@@ -0,0 +1,14 @@
+directives:
+- add_directives:
+    file: package://robot_payload_id/iiwa_with_box_payload.dmd.yaml
+plant_config:
+    time_step: 1e-3 # 1e-3 for torque_only mode and 5e-3 otherwise
+    contact_model: "hydroelastic_with_fallback"
+    discrete_contact_approximation: "sap"
+model_drivers:
+    iiwa: !IiwaDriver
+        lcm_bus: "default"
+        control_mode: torque_only
+lcm_buses:
+    default:
+        lcm_url: ""

models/payload_box.sdf

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="payload_box">
+    <link name="payload_box_link">
+      <inertial>
+        <pose>0 0 0.07 0 0 0</pose>
+        <mass>3.863</mass>
+        <inertia>
+          <ixx>0.5</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.5</iyy>
+          <iyz>0</iyz>
+          <izz>0.5</izz>
+        </inertia>
+      </inertial>
+      <visual name="visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>.1 .1 .26</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.7 0.7 0.7 1.0</diffuse>
+        </material>
+      </visual>
+      <collision name="collision">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>.1 .1 .26</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>