Export types

Typed export configuration and results. Built-in exporters register under ExportFormat keys; see Registries for retarget.export.exporters.

Spec & result

ExportSpec

Bases: BaseModel

Configuration for exporting a retargeting result.

Attributes:

Name	Type	Description
format_name	str	Registered export format key (default "mujoco_npz").
output_path	Path	Destination file path for exported data.
output_fps	int | None	Optional resample rate before export; uses result fps when omitted.
kinematics_backend	KinematicsBackend | None	Optional backend for analytic qvel; finite differences when omitted.
provenance	dict[str, Any]	Origin information copied into the export.

Attributes

model_config class-attribute instance-attribute

model_config = ConfigDict(arbitrary_types_allowed=True)

format_name class-attribute instance-attribute

format_name: ExporterKind = MUJOCO_NPZ

output_path instance-attribute

output_path: Path

output_fps class-attribute instance-attribute

output_fps: int | None = None

kinematics_backend class-attribute instance-attribute

kinematics_backend: KinematicsBackend | None = None

provenance class-attribute instance-attribute

provenance: dict[str, Any] = Field(default_factory=dict)

ExportResult

Bases: BaseModel

Summary of an export operation.

Attributes:

Name	Type	Description
format_name	str	Export format key used for the operation.
path	Path	Written output file path.
frame_count	int	Number of exported frames.
fps	float	Exported playback frame rate.
qpos_dimension	int | None	Exported generalized-position width.
qvel_dimension	int | None	Exported generalized-velocity width.
provenance	dict[str, Any]	Origin information for the export.

Attributes

format_name instance-attribute

format_name: ExporterKind

path instance-attribute

path: Path

frame_count instance-attribute

frame_count: int

fps instance-attribute

fps: float

qpos_dimension class-attribute instance-attribute

qpos_dimension: int | None = None

qvel_dimension class-attribute instance-attribute

qvel_dimension: int | None = None

provenance class-attribute instance-attribute

provenance: dict[str, Any] = Field(default_factory=dict)

Exporter protocol

Implementations register on retarget.export.exporters. The interface is Exporter (documented on Protocols).