Export

Export#

Train / play write params/policy.onnx and params/config.yaml for deploy runtimes. Schema version: wbc_tracking_params_v1.

Workflow: Deploy export.

Tracking params YAML#

wbc_mjlab.export.tracking_params_yaml.SCHEMA_VERSION#

Schema id written into deploy config.yaml.

wbc_mjlab.export.tracking_params_yaml.REFERENCE_OBS_TERM_NAMES#

Reference-command actor terms recognized when building tracking params.

config.yaml (written next to the ONNX) includes:

  • schema_version — must be wbc_tracking_params_v1

  • Joint names, action mode (reference_residual vs absolute), action scales

  • Actor observation term order and per-term dim (see Observations)

  • tracking.wbc_command_dim and reference observation names for clip playback

  • PD gains and policy step timing

Manual export:

uv run wbc-mjlab-export-tracking-params --task Wbc-G1 --out /path/to/config.yaml