EGG Allows you to store only a skeletal and shapekeys animation, but movement / rotation / scale - causes problems. This example shows the workaround using json file for storing information.
Algorithm is quite rough and uses “quantization” if I can say so, but for my purposes it suffice, so I didn’t mess around splines and NLA Actions
exp_motion.py - script for Blender
imp_motion.py - for Panda with usage example