isaaclab资产打包的一种方式

通过manager创建的资产如果特别多的话这个配置就显得特别长不方便查看代码结构
可以通过一下方式
bash 复制代码
import numpy as np

def get_wxyz(target_point:tuple[float,float,float]):
    # 起始向量: Z轴 (0,0,1)
    v1 = np.array([0,0,1])
    # 目标向量: X轴 (1,0,0)
    v2 = np.array(target_point)

    # 自动计算旋转四元数
    dot = np.dot(v1, v2)
    axis = np.cross(v1, v2)
    angle = np.arccos(np.clip(dot, -1.0, 1.0))
    half = angle/2
    w = np.cos(half)
    x,y,z = axis * np.sin(half)
    
    return (float(w), float(x), float(y), float(z))

def acan_aseets_zip():
    
    Axis_x = AssetBaseCfg(
            prim_path="{ENV_REGEX_NS}/Axis_x",
            spawn=sim_utils.CylinderCfg(
                radius=0.05,
                height=1,
                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
            ),
            init_state=AssetBaseCfg.InitialStateCfg(
                pos=(0.5,0,5),
                rot=(0.7071, 0.0000, 0.7071, 0.0000)
            )
        )

    Axis_y = AssetBaseCfg(
            prim_path="{ENV_REGEX_NS}/Axis_y",
            spawn=sim_utils.CylinderCfg(
                radius=0.05,
                height=1,
                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)),
            ),
            init_state=AssetBaseCfg.InitialStateCfg(
                pos=(0,0.5,5.0),
                rot=get_wxyz((0,1,0))
            )
        )
    
    Axis_z = AssetBaseCfg(
            prim_path="{ENV_REGEX_NS}/Axis_z",
            spawn=sim_utils.CylinderCfg(
                radius=0.05,
                height=1,
                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0 )),
            ),
            init_state=AssetBaseCfg.InitialStateCfg(
                pos=(0,0,5.5),
                rot=get_wxyz((0,0,2))
            )
        )
    # return empty_line
    # ✅ 打包成字典：键是变量名，值是资产配置
    return {
        # "asset_axis": asset_axis,
        "Axis_x": Axis_x,
        "Axis_y": Axis_y,
        "Axis_z": Axis_z
    }

##
# Scene definition
##

@configclass
class Exp1SceneCfg(InteractiveSceneCfg):
    """Configuration for a cart-pole scene."""

    # ground plane
    ground = AssetBaseCfg(
        prim_path="/World/ground",
        spawn=sim_utils.GroundPlaneCfg(size=(100.0, 100.0)),
    )

    # # robot
    # robot: ArticulationCfg = CARTPOLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
    robot: ArticulationCfg = TRACTOR_CONFIG.replace(prim_path="{ENV_REGEX_NS}/Robot")
    # robot: ArticulationCfg = ROSOrinMecanumCfg.replace(prim_path="{ENV_REGEX_NS}/Robot")
    

    # lights
    dome_light = AssetBaseCfg(
        prim_path="/World/DomeLight",
        spawn=sim_utils.DomeLightCfg(color=(0.9, 0.9, 0.9), intensity=500.0),
    )

    wall_north = RigidObjectCfg(
        prim_path="{ENV_REGEX_NS}/wall_north",
        spawn=sim_utils.CuboidCfg(
            size=(10.2, 0.2, 2.5),  # 10.2m长以覆盖整个宽度
            rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
            collision_props=sim_utils.CollisionPropertiesCfg(),
            visual_material=sim_utils.PreviewSurfaceCfg(
                diffuse_color=(0.9, 0.9, 0.85),
                roughness=0.9,
            ),
        ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 5.1, 1.25)),  # 外移到y=5.1
    )
   
    locals().update(acan_aseets_zip())