isaaclab.utils.leapp

Sub-module for LEAPP export annotation and proxy-based policy tracing.

Classes

The following classes are part of the public isaaclab.utils.leapp API.

ExportPatcher	Unified patcher that annotates observation inputs and action outputs for LEAPP export.
LeappTensorSemantics	Semantic metadata attached directly to a raw tensor-producing function.

class isaaclab.utils.leapp.ExportPatcher

Bases: object

Unified patcher that annotates observation inputs and action outputs for LEAPP export.

Observation-side property semantics are resolved lazily inside _DataProxy by combining:

• the concrete runtime getter from the backend data class

• the nearest _leapp_semantics metadata found while walking the MRO

This lets backends override property implementations without duplicating decorators from the abstract API.

• The observation proxy chain (_EnvProxy → _SceneProxy → _EntityProxy → _DataProxy) for state reads by observation term functions.

• The _ArticulationWriteProxy on each action term, which intercepts target writes and routes .data reads through the same _DataProxy / cache.

Methods:

__init__(export_method[, required_obs_groups])	Initialize the export patcher.
__new__(*args, **kwargs)

__init__(export_method: str, required_obs_groups: set[str] | None = None)

Initialize the export patcher.

Parameters:

• export_method – LEAPP export backend passed to annotate.output_tensors().

• required_obs_groups – Observation groups that should be patched, or None to patch all groups.

classmethod __new__(*args, **kwargs)

class isaaclab.utils.leapp.LeappTensorSemantics

Bases: object

Semantic metadata attached directly to a raw tensor-producing function.

Methods:

__new__(*args, **kwargs)
__init__([kind, element_names, ...])

classmethod __new__(*args, **kwargs)

__init__(kind: Any = None, element_names: list[str] | list[list[str]] | None = None, element_names_resolver: Callable | None = None, const: bool = False) → None