Import upstream snapshot c19f713c415a699a79d71cd96aa13c3104a05047

Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
2026-08-28 15:42:17 +08:00
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+.. _export-scene:
+
+Export Scene
+============
+
+The ``export-scene`` script writes a complete scene (XML and mesh assets) to a
+directory for inspection, sharing, or loading in standalone MuJoCo.
+
+Quick start
+-----------
+
+.. code-block:: bash
+
+    # Export a built-in entity by alias.
+    uv run export-scene g1 --output-dir /tmp/g1
+
+    # Export a registered task scene.
+    uv run export-scene Mjlab-Velocity-Flat-Unitree-Go1 --output-dir /tmp/task
+
+    # Export as a zip archive.
+    uv run export-scene yam --output-dir /tmp/yam --zip True
+
+    # Export a custom entity via import path.
+    uv run export-scene my_pkg.robots:get_my_robot_cfg --output-dir /tmp/custom
+
+The output directory contains a ``scene.xml`` and an ``assets/`` subdirectory
+with all referenced mesh files. The XML can be loaded directly with
+``mujoco.MjModel.from_xml_path()`` or dropped into the
+`simulate viewer <https://mujoco.readthedocs.io/en/stable/programming/samples.html#sasimulate>`_.
+
+Target resolution
+-----------------
+
+The positional ``target`` argument is resolved in order:
+
+1. **Task ID**: checked against the task registry (``import mjlab.tasks``).
+2. **Entity alias**: one of the built-in shorthands (``g1``, ``go1``, ``yam``).
+3. **Import path**: a ``module:attribute`` string pointing to any callable
+   that returns an ``EntityCfg``.
+
+If none match, the script prints available task IDs and aliases.
+
+Options
+-------
+
+``--output-dir DIR`` *(default: "export")*
+    Destination directory. Cleaned before each export to prevent stale assets.
+
+``--zip True`` *(default: False)*
+    Compress the output into a ``.zip`` archive and remove the directory.