In the previous exercise, you manually set up a simulation by creating a DiagramBuilder, adding a MultibodyPlant and SceneGraph, loading robots, and wiring everything together. In this exercise, you will learn to use HardwareStation and model directives specified in YAML configuration files to achieve the same result with much less code. You will work exclusively in . You will complete the following steps: [...] This graphic is interactive. Make sure you zoom in and click around to get