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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
51 lines
1.6 KiB
ReStructuredText
51 lines
1.6 KiB
ReStructuredText
.. _export-scene:
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Export Scene
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============
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The ``export-scene`` script writes a complete scene (XML and mesh assets) to a
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directory for inspection, sharing, or loading in standalone MuJoCo.
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Quick start
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-----------
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.. code-block:: bash
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# Export a built-in entity by alias.
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uv run export-scene g1 --output-dir /tmp/g1
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# Export a registered task scene.
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uv run export-scene Mjlab-Velocity-Flat-Unitree-Go1 --output-dir /tmp/task
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# Export as a zip archive.
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uv run export-scene yam --output-dir /tmp/yam --zip True
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# Export a custom entity via import path.
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uv run export-scene my_pkg.robots:get_my_robot_cfg --output-dir /tmp/custom
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The output directory contains a ``scene.xml`` and an ``assets/`` subdirectory
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with all referenced mesh files. The XML can be loaded directly with
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``mujoco.MjModel.from_xml_path()`` or dropped into the
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`simulate viewer <https://mujoco.readthedocs.io/en/stable/programming/samples.html#sasimulate>`_.
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Target resolution
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-----------------
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The positional ``target`` argument is resolved in order:
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1. **Task ID**: checked against the task registry (``import mjlab.tasks``).
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2. **Entity alias**: one of the built-in shorthands (``g1``, ``go1``, ``yam``).
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3. **Import path**: a ``module:attribute`` string pointing to any callable
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that returns an ``EntityCfg``.
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If none match, the script prints available task IDs and aliases.
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Options
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-------
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``--output-dir DIR`` *(default: "export")*
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Destination directory. Cleaned before each export to prevent stale assets.
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``--zip True`` *(default: False)*
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Compress the output into a ``.zip`` archive and remove the directory.
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