[Draft] Added export with leapp to isaac lab.

scripts/reinforcement_learning/deploy.py

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+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Deploy a LEAPP-exported policy in an Isaac Lab simulation.
+
+Usage::
+
+    ./isaaclab.sh -p scripts/reinforcement_learning/deploy.py \
+        --task Isaac-Velocity-Flat-Anymal-B-v0 \
+        --leapp_model .pretrained_checkpoints/rsl_rl/Isaac-Velocity-Flat-Anymal-B-v0/Isaac-Velocity-Flat-Anymal-B-v0/Isaac-Velocity-Flat-Anymal-B-v0.yaml \
+        --headless
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+import sys
+
+from isaaclab.app import AppLauncher
+
+parser = argparse.ArgumentParser(description="Deploy a LEAPP-exported policy in simulation.")
+parser.add_argument("--task", type=str, required=True, help="Name of the registered Isaac Lab task.")
+parser.add_argument("--leapp_model", type=str, required=True, help="Path to the LEAPP .yaml pipeline description.")
+parser.add_argument("--seed", type=int, default=None, help="Seed for the environment.")
+AppLauncher.add_app_launcher_args(parser)
+args_cli, hydra_args = parser.parse_known_args()
+
+sys.argv = [sys.argv[0]] + hydra_args
+
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import torch
+
+from isaaclab.envs.direct_deployment_env import DirectDeploymentEnv
+
+import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+
+
+def main():
+    # ── Load env config from gym registry ─────────────────────────
+    task_name = args_cli.task.split(":")[-1]
+    env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
+
+    if args_cli.seed is not None:
+        env_cfg.seed = args_cli.seed
+    if args_cli.device is not None:
+        env_cfg.sim.device = args_cli.device
+
+    # ── Create deploy env ─────────────────────────────────────────
+    env = DirectDeploymentEnv(env_cfg, args_cli.leapp_model)
+
+    print(f"[INFO]: Deploying task '{task_name}' with LEAPP model: {args_cli.leapp_model}")
+    print(f"[INFO]: Num envs: {env.num_envs}, decimation: {env.cfg.decimation}, step_dt: {env.step_dt:.4f}s")
+
+    # ── Run loop ──────────────────────────────────────────────────
+    env.reset()
+    with torch.inference_mode():
+        while simulation_app.is_running():
+            env.step()
+
+    env.close()
+
+
+if __name__ == "__main__":
+    main()
+    simulation_app.close()

scripts/reinforcement_learning/rsl_rl/LEAPP_annotations_for_isaac_lab.md

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+# LEAPP Export for Isaac Lab
+
+Export RSL-RL reinforcement learning pipelines as portable processing graphs using [LEAPP](https://gitlab-master.nvidia.com/Isaac/leapp).
+
+## Exported Artifacts
+
+| File | Description |
+|------|-------------|
+| `<taskname>.onnx` | Policy network (ONNX) |
+| `<task_name>.yaml` | Pipeline configuration and metadata |
+| `<task_name>.png` | Visualization of the processing graph |
+
+The YAML file includes semantic metadata (joint names, units, etc.) extracted from IO descriptors. For details on the YAML format, see the [LEAPP documentation](https://gitlab-master.nvidia.com/Isaac/leapp/-/blob/main/docs/0_getting_started.md).
+
+## Usage
+
+### 1. Install LEAPP
+
+```bash
+git clone ssh://git@gitlab-master.nvidia.com:12051/Isaac/leapp.git
+cd leapp
+git checkout develop
+pip install -e .
+```
+
+### 2. Export a Policy
+
+```bash
+./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/export.py \
+    --task Isaac-Reach-Franka-v0 \
+    --use_pretrained_checkpoint \
+    --headless
+```
+
+> **Note:** Export runs with a single environment instance.
+
+### 3. View Results
+
+Artifacts are saved to `./<task_name>/`.
+
+
+
+sample exported `Isaac-Reach-Franka-v0.yaml`:
+
+```yaml
+models:
+  Isaac-Reach-Franka-v0:
+    inputs:
+    - name: joint_pos
+      dtype: float32
+      shape: [1, 9]
+      type: tensor
+    - name: joint_vel
+      dtype: float32
+      shape: [1, 9]
+      type: tensor
+    - name: ee_pose
+      dtype: float32
+      shape: [1, 7]
+      type: tensor
+    - name: last_actions
+      dtype: float32
+      shape: [1, 7]
+      type: tensor
+    outputs:
+    - name: arm_action
+      dtype: float32
+      shape: [1, 7]
+      type: tensor
+    - name: last_action
+      dtype: float32
+      shape: [1, 7]
+      type: tensor
+    - name: arm_action_kp_gains
+      dtype: float32
+      shape: [1, 7]
+      type: tensor
+    - name: arm_action_kd_gains
+      dtype: float32
+      shape: [1, 7]
+      type: tensor
+    parameters:
+      model_path: Isaac-Reach-Franka-v0.onnx
+      md5sum: 38ee55fa7828b5068b86024206bd5ddb
+      sha256sum: c605a7076fde5c0d03a36f548d458d24bd543df67aac7675d463d29f870a7eb3
+      device: cuda
+      backend: onnx
+
+pipeline:
+  data_flow: {}
+  feedback_flow:
+    Isaac-Reach-Franka-v0/last_action: [Isaac-Reach-Franka-v0/last_actions]
+  inputs:
+    Isaac-Reach-Franka-v0: [joint_pos, joint_vel, ee_pose]
+  outputs:
+    Isaac-Reach-Franka-v0: [arm_action, arm_action_kp_gains, arm_action_kd_gains]
+
+system information:
+  cuda version: '12.8'
+  leapp version: 0.3.0
+  os: Linux
+  python version: 3.11.14
+  torch version: 2.7.0+cu128
+
+semantic:
+  actions:
+  - joint_names:
+    - panda_joint1
+    - panda_joint2
+    - panda_joint3
+    - panda_joint4
+    - panda_joint5
+    - panda_joint6
+    - panda_joint7
+    leapp_mapping:
+    - arm_action
+    name: joint_position_action
+  observations:
+  - joint_names:
+    - panda_joint1
+    - panda_joint2
+    - panda_joint3
+    - panda_joint4
+    - panda_joint5
+    - panda_joint6
+    - panda_joint7
+    - panda_finger_joint1
+    - panda_finger_joint2
+    leapp_mapping:
+    - joint_pos
+    name: joint_pos_rel
+    units: rad
+  - joint_names:
+    - panda_joint1
+    - panda_joint2
+    - panda_joint3
+    - panda_joint4
+    - panda_joint5
+    - panda_joint6
+    - panda_joint7
+    - panda_finger_joint1
+    - panda_finger_joint2
+    leapp_mapping:
+    - joint_vel
+    name: joint_vel_rel
+    units: rad/s
+  - leapp_mapping:
+    - ee_pose
+    name: generated_commands
+  - leapp_mapping:
+    - last_actions
+    name: last_action
+  scene:
+    decimation: 2
+    dt: 0.03333333333333333
+    physics_dt: 0.016666666666666666
+
+```