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migrated all leapp related things to isaaclab cli command
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Lines changed: 399 additions & 400 deletions

‎docs/source/policy_deployment/05_leapp/deploying_exported_policies_with_leapp.rst‎

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@@ -6,7 +6,7 @@ simulation without the training infrastructure. This is the Isaac Lab deployment
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LEAPP-exported policies and is useful for validating that the packaged policy still behaves
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correctly when driven through the deployment stack instead of the training stack.
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Run the deployment script with the task name and the exported LEAPP ``.yaml`` file. Use the
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Run the deployment command with the task name and the exported LEAPP ``.yaml`` file. Use the
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same backend extra and backend selector that you used for training and export, and pass a
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``--viz`` option when you want a viewport:
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@@ -23,49 +23,43 @@ same backend extra and backend selector that you used for training and export, a
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.. code-block:: bash
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# Newton backend (kitless)
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uv run --extra leapp python \
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scripts/reinforcement_learning/leapp/deploy.py \
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uv run --extra leapp isaaclab deploy_leapp \
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--task <TASK_NAME> \
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
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--viz newton_gl physics=newton_mjwarp
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# OV PhysX backend
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uv run --extra ovphysx,leapp python \
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scripts/reinforcement_learning/leapp/deploy.py \
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uv run --extra ovphysx,leapp isaaclab deploy_leapp \
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--task <TASK_NAME> \
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
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--viz kit physics=ovphysx
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# Isaac Sim PhysX backend
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OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim,leapp python \
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scripts/reinforcement_learning/leapp/deploy.py \
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OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim,leapp isaaclab deploy_leapp \
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--task <TASK_NAME> \
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
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--viz kit physics=isaacsim_physx
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.. tab-item:: isaaclab.sh / isaaclab.bat
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.. code-block:: bash
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# Newton backend (kitless)
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./isaaclab.sh -p \
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scripts/reinforcement_learning/leapp/deploy.py \
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./isaaclab.sh deploy_leapp \
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--task <TASK_NAME> \
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
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--viz newton_gl physics=newton_mjwarp
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# OV PhysX backend
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./isaaclab.sh -p \
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scripts/reinforcement_learning/leapp/deploy.py \
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./isaaclab.sh deploy_leapp \
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--task <TASK_NAME> \
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
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--viz kit physics=ovphysx
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# Isaac Sim PhysX backend
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OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y ./isaaclab.sh -p \
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scripts/reinforcement_learning/leapp/deploy.py \
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OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y ./isaaclab.sh deploy_leapp \
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--task <TASK_NAME> \
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
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--viz kit physics=isaacsim_physx
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.. tab-item:: :icon:`fa-brands fa-windows` Windows
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.. code-block:: batch
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:: Newton backend (kitless)
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uv run --extra leapp python scripts\reinforcement_learning\leapp\deploy.py ^
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uv run --extra leapp isaaclab deploy_leapp ^
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--task <TASK_NAME> ^
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--viz newton_gl physics=newton_mjwarp
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:: OV PhysX backend
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uv run --extra ovphysx,leapp python scripts\reinforcement_learning\leapp\deploy.py ^
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uv run --extra ovphysx,leapp isaaclab deploy_leapp ^
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--task <TASK_NAME> ^
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--viz kit physics=ovphysx
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:: Isaac Sim PhysX backend
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set OMNI_KIT_ACCEPT_EULA=Y
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set ACCEPT_EULA=Y
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uv run --extra isaacsim,leapp python scripts\reinforcement_learning\leapp\deploy.py ^
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uv run --extra isaacsim,leapp isaaclab deploy_leapp ^
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--task <TASK_NAME> ^
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--viz kit physics=isaacsim_physx
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.. tab-item:: isaaclab.sh / isaaclab.bat
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.. code-block:: batch
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:: Newton backend (kitless)
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isaaclab.bat -p scripts\reinforcement_learning\leapp\deploy.py ^
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isaaclab.bat deploy_leapp ^
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--task <TASK_NAME> ^
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--viz newton_gl physics=newton_mjwarp
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:: OV PhysX backend
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isaaclab.bat -p scripts\reinforcement_learning\leapp\deploy.py ^
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isaaclab.bat deploy_leapp ^
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--task <TASK_NAME> ^
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--viz kit physics=ovphysx
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:: Isaac Sim PhysX backend
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set OMNI_KIT_ACCEPT_EULA=Y
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set ACCEPT_EULA=Y
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isaaclab.bat -p scripts\reinforcement_learning\leapp\deploy.py ^
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isaaclab.bat deploy_leapp ^
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--task <TASK_NAME> ^
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> ^
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--viz kit physics=isaacsim_physx
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@@ -135,7 +129,7 @@ entities.
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Match the Training and Export Configuration
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-------------------------------------------
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The deployment script rebuilds the task configuration from ``--task``. It cannot infer the
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The deployment command rebuilds the task configuration from ``--task``. It cannot infer the
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training configuration from the checkpoint or LEAPP YAML, so you must provide the same
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configuration selections used for training and export. The task name, LEAPP YAML, and
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checkpoint must describe the same policy.
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.. code-block:: bash
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uv run --extra leapp python \
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scripts/reinforcement_learning/leapp/deploy.py \
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uv run --extra leapp isaaclab deploy_leapp \
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--task Isaac-Humanoid \
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--leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
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--pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
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--viz newton_gl \
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presets=newton_mjwarp
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‎docs/source/policy_deployment/05_leapp/exporting_direct_workflow_policies_with_leapp.rst‎

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@@ -19,7 +19,7 @@ environment code. During export, LEAPP traces the annotated tensors and builds a
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intermediate representation of the full policy pipeline. These annotations remain
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dormant during normal environment execution and only add a small amount of
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overhead until export time. They are activated by
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``scripts/reinforcement_learning/leapp/rsl_rl/export.py`` when you run the export flow.
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``isaaclab export --rl_library rsl_rl`` when you run the export flow.
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This tutorial uses ``scripts/tutorials/06_deploy/anymal_c_env.py`` as a concrete
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example of adding LEAPP annotations to a Direct workflow environment. Apply the same
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.. code-block:: bash
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# Newton: uv run --extra leapp python ... physics=newton_mjwarp
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# OV PhysX: uv run --extra ovphysx,leapp python ... physics=ovphysx
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# Newton: uv run --extra leapp isaaclab export --rl_library rsl_rl ... physics=newton_mjwarp
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# OV PhysX: uv run --extra ovphysx,leapp isaaclab export --rl_library rsl_rl ... physics=ovphysx
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# Isaac Sim:
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OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim,leapp python \
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scripts/reinforcement_learning/leapp/rsl_rl/export.py \
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OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim,leapp isaaclab export --rl_library rsl_rl \
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--task <TASK_NAME> \
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--checkpoint <PATH_TO_CHECKPOINT> \
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--export_save_path <EXPORT_PATH> \
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.. code-block:: bash
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./isaaclab.sh -p scripts/reinforcement_learning/leapp/rsl_rl/export.py \
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./isaaclab.sh export --rl_library rsl_rl \
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--task <TASK_NAME> \
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--checkpoint <PATH_TO_CHECKPOINT> \
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--export_save_path <EXPORT_PATH> \
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.. code-block:: batch
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:: Newton: uv run --extra leapp python ... physics=newton_mjwarp
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:: OV PhysX: uv run --extra ovphysx,leapp python ... physics=ovphysx
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:: Newton: uv run --extra leapp isaaclab export --rl_library rsl_rl ... physics=newton_mjwarp
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:: OV PhysX: uv run --extra ovphysx,leapp isaaclab export --rl_library rsl_rl ... physics=ovphysx
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:: Isaac Sim:
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set OMNI_KIT_ACCEPT_EULA=Y
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set ACCEPT_EULA=Y
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uv run --extra isaacsim,leapp python scripts\reinforcement_learning\leapp\rsl_rl\export.py ^
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uv run --extra isaacsim,leapp isaaclab export --rl_library rsl_rl ^
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--task <TASK_NAME> ^
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--checkpoint <PATH_TO_CHECKPOINT> ^
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--export_save_path <EXPORT_PATH> ^
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.. code-block:: batch
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isaaclab.bat -p scripts\reinforcement_learning\leapp\rsl_rl\export.py ^
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isaaclab.bat export --rl_library rsl_rl ^
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--task <TASK_NAME> ^
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--checkpoint <PATH_TO_CHECKPOINT> ^
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--export_save_path <EXPORT_PATH> ^
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This tutorial covers exporting direct rl policies only. direct rl
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policies are not currently supported by
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``scripts/reinforcement_learning/leapp/deploy.py``.
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``isaaclab deploy_leapp``.
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For more information on the export arguments, see the
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:doc:`standard LEAPP deployment workflow <exporting_policies_with_leapp>`.
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``annotate.input_tensors()`` wraps a tensor so LEAPP can trace all downstream
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operations that depend on it. The function takes two important arguments:
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- ``self.spec.id`` identifies the node that owns the tensor. When you use
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``export.py``, this ID matches the exported policy node.
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- ``self.spec.id`` identifies the node that owns the tensor. When you run
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``isaaclab export``, this ID matches the exported policy node.
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- The second argument is a dictionary that maps a unique tensor name to the
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tensor itself. LEAPP uses these names in the exported metadata and for
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debugging.

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