LISDF = LIS extended version of SDF#

The LISDF format has a few additional tags inside <world></world> compared to SDF:

• add object and robot models with

<include>
    <uri>URDF_file</uri>
    <static>true/false</static>
    <pose>x y z r p y</pose>
    <scale> an integer to scale model .obj with original ratio</scale>
</include>

• describe camera pose in a way that's easy to export from PyBullet

<gui>
  <camera name="default_camera" definition_type="lookat">
    <xyz>3 6 3</xyz>
    <point_to>0 6 1</point_to>
  </camera>
</gui>

apart from what SDF originally supports

<gui>
  <camera name="default_camera" definition_type="pose">
    <pose>3 6 3 0 -2.15 0</pose>
  </camera>
</gui>

Test Visualize LISDF#

You may visualize your LISDF in PyBullet with the following code:

cd tests
python test_pybullet_lisdf -path path/to/lisdf

For example, running with the scene

python test_pybullet_lisdf -path assets/scenes/kitchen_counter.lisdf

results in Pybullet simulation below with the specified camera pose targeted at the pot.