[HardwareSim] More documentation / examples, please?

[RussTedrake]

The functionality is complex and the code is difficult to read with all of the templated callbacks, etc, and the split between python and c++. Here are a few things that I believe can be made to work now, but I would appreciate an example and/or documentation:

• adding a new driver config from pydrake. @jwnimmer-tri told me that "ApplyDriverConfigs does apply_function = getattr(module, "ApplyDriverConfig"). So they can add new configs, [pydrake users] just need to make a function in the same module to apply it / them."
• lcm channel suffix. My first quick attempt to add multiple iiwas to the simulation resulted in them both publishing/listening on the same channels:

  
  # This file is licensed under the MIT-0 License.
  # See LICENSE-MIT-0.txt in the current directory.

This demo simulation shows an IIWA arm with an attached WSG gripper.

Demo: directives:

• add_model: name: amazon_table file: package://drake/examples/manipulation_station/models/amazon_table_simplified.sdf
• add_weld: parent: world child: amazon_table::amazon_table
• add_model: name: iiwa file: package://drake/manipulation/models/iiwa_description/urdf/iiwa14_primitive_collision.urdf default_joint_positions: iiwa_joint_1: [-0.2] iiwa_joint_2: [0.79] iiwa_joint_3: [0.32] iiwa_joint_4: [-1.76] iiwa_joint_5: [-0.36] iiwa_joint_6: [0.64] iiwa_joint_7: [-0.73]
• add_frame: name: iiwa_on_world X_PF: base_frame: world translation: [0, -0.7, 0] rotation: !Rpy { deg: [0, 0, 90] }
• add_weld: parent: iiwa_on_world child: iiwa::base
• add_model: name: wsg file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf default_joint_positions: left_finger_sliding_joint: [-0.02] right_finger_sliding_joint: [0.02]
• add_frame: name: wsg_on_iiwa X_PF: base_frame: iiwa::iiwa_link_7 translation: [0, 0, 0.114] rotation: !Rpy { deg: [90, 0, 90] }
• add_weld: parent: wsg_on_iiwa child: wsg::body
• add_model: name: iiwa2 file: package://drake/manipulation/models/iiwa_description/urdf/iiwa14_primitive_collision.urdf default_joint_positions: iiwa_joint_1: [-0.2] iiwa_joint_2: [0.79] iiwa_joint_3: [0.32] iiwa_joint_4: [-1.76] iiwa_joint_5: [-0.36] iiwa_joint_6: [0.64] iiwa_joint_7: [-0.73]
• add_frame: name: iiwa2_on_world X_PF: base_frame: world translation: [0, 0.7, 0] rotation: !Rpy { deg: [0, 0, 90] }
• add_weld: parent: iiwa2_on_world child: iiwa2::base
• add_model: name: wsg2 file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf default_joint_positions: left_finger_sliding_joint: [-0.02] right_finger_sliding_joint: [0.02]
• add_frame: name: wsg2_on_iiwa X_PF: base_frame: iiwa2::iiwa_link_7 translation: [0, 0, 0.114] rotation: !Rpy { deg: [90, 0, 90] }
• add_weld: parent: wsg2_on_iiwa child: wsg2::body cameras: oracular_view: name: camera_0 X_PB: translation: [1.5, 0.8, 1.25] rotation: !Rpy { deg: [-120, 5, 125] } model_drivers: iiwa: !IiwaDriver hand_model_name: wsg wsg: !SchunkWsgDriver {} iiwa2: !IiwaDriver hand_model_name: wsg2 wsg2: !SchunkWsgDriver {}

[jwnimmer-tri]

See also https://github.com/RobotLocomotion/drake/issues/20061#issuecomment-1692603411 for an example of lcm channel suffix that needs better documentation.