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Exporter tutorial (#72)
# Pull Request ### What change is being made Add tutorial for exporter and update docs. ### Why this change is being made Documentation. ### Tested N/A GitOrigin-RevId: f8793fb8b3b01aa464feddf88c9247b3b722be44
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‎README.md‎

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pixi run -e controller test
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```
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### Tutorials
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- [**Exporter Tutorial**](docs/tutorial/exporter/exporter_tutorial.md) — Step-by-step guide to
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exporting an RL environment and policy to a self-contained ONNX file using `exploy.exporter.core`.
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### Usage Examples
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#### Exporting a Policy from IsaacLab
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from exploy.exporter.frameworks.isaaclab.env import IsaacLabExportableEnvironment
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# Create an environment.
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env = . . .
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env = ...
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# Create an actor.
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actor = ...
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# Create an exportable environment from a ManagerBasedRLEnv
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exportable_env = IsaacLabExportableEnvironment(env)
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session_wrapper = exporter.SessionWrapper(
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onnx_folder=onnx_export_dir,
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onnx_file_name=onnx_export_file,
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policy=policy,
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actor=actor,
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optimize=True,
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)
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‎docs/_static/custom.css‎

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/* Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved. */
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‎docs/api/core/core.rst‎

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Core Exporter Functionality
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===========================
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This section contains detailed API documentation for the core exporter functionality of exploy.
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Actor
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-----
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Abstract interface and utilities for exportable actors.
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This module defines the ``ExportableActor`` base class for policy networks that can be
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exported to ONNX, along with helpers like ``make_exportable_actor`` and ``add_actor_memory``.
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.. automodule:: exploy.exporter.core.actor
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:members:
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:undoc-members:
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:show-inheritance:
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Exportable Environment
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----------------------
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Abstract base class for exportable environments.
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This module defines the ``ExportableEnvironment`` base class that provides
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the standardized interface required by the exporter to trace observation
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computation, action processing, and simulation stepping.
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.. automodule:: exploy.exporter.core.exportable_environment
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:members:
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:undoc-members:
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:show-inheritance:
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Components
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----------
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Core building blocks for environment export.
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This module defines the component abstractions (``Input``, ``Output``, ``Memory``, ``Group``, ``Connection``)
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used to structure and manage data flow during policy export.
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.. automodule:: exploy.exporter.core.components
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:members:
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:undoc-members:
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:show-inheritance:
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Context Manager
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---------------
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Manages components for environment export.
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The ``ContextManager`` class organizes and manages all inputs, outputs, memory components,
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and connections needed during the ONNX export process.
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.. automodule:: exploy.exporter.core.context_manager
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:members:
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:undoc-members:
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:show-inheritance:
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Evaluator
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---------
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Validation and testing utilities for exported ONNX models.
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This module provides the ``evaluate`` function to compare ONNX model outputs
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against the original environment and PyTorch policy for correctness verification.
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.. automodule:: exploy.exporter.core.evaluator
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:members:
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:undoc-members:
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:show-inheritance:
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Exporter Module
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---------------
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Core ONNX export functionality for RL policies.
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This module provides the main entry point for exporting trained policies to ONNX format,
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including the ``export_environment_as_onnx`` function and the ``OnnxEnvironmentExporter`` class.
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.. automodule:: exploy.exporter.core.exporter
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:members:
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:undoc-members:
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:show-inheritance:
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Session Wrapper
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---------------
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ONNX Runtime inference session management.
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The ``SessionWrapper`` class provides a convenient interface for loading and running
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ONNX models with ONNX Runtime, managing input/output handling and session configuration.
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.. automodule:: exploy.exporter.core.session_wrapper
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:members:
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:undoc-members:
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:show-inheritance:
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Tensor Proxy
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------------
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Tensor list abstraction for improved ONNX export.
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The ``TensorProxy`` class manages lists of tensors and exposes them as a single stacked tensor,
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improving the structure of exported computational graphs.
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.. automodule:: exploy.exporter.core.tensor_proxy
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:members:
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:undoc-members:
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:show-inheritance:

‎docs/api/cpp/index.rst‎

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Data Types
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----------
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Core data structures used throughout the controller.
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Core data structures and type aliases used throughout the controller.
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.. doxygenstruct:: exploy::control::Position
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.. doxygentypedef:: exploy::control::Position
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.. doxygentypedef:: exploy::control::Quaternion
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.. doxygentypedef:: exploy::control::LinearVelocity
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.. doxygentypedef:: exploy::control::AngularVelocity
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Metadata structures for component configuration.
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.. doxygenstruct:: exploy::control::metadata::JointMetadata
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.. doxygenstruct:: exploy::control::metadata::SE2VelocityCommandMetadata
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.. doxygenstruct:: exploy::control::metadata::DepthImageMetadata
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‎docs/api/exporter/components.rst‎

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‎docs/api/exporter/context_manager.rst‎

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‎docs/api/exporter/evaluator.rst‎

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