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#

# 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.

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.

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