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fix docs highlight misalignment #5512

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94d0ef6
fix docs highlight misalignment
frlai May 6, 2026
5cb92b5
strengthened language about needing manual annotations
frlai May 9, 2026
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14 changes: 6 additions & 8 deletions ...source/tutorials/06_exporting/exporting_direct_workflow_policies_with_leapp.rst
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Expand Up @@ -19,12 +19,10 @@ dormant during normal environment execution and only add a small amount of
overhead until export time. They are activated by
``scripts/reinforcement_learning/leapp/rsl_rl/export.py`` when you run the export flow.

This tutorial uses ``scripts/tutorials/06_deploy/anymal_c_env.py`` as the example.
The script is based on the existing ANYmal-C direct environment at
``source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env.py`` and adds
the annotations needed to make it compatible with the export script. Once you have added
the annotations to your direct RL environment, you can export a trained policy
with:
This tutorial uses ``scripts/tutorials/06_deploy/anymal_c_env.py`` as a concrete
example of adding LEAPP annotations to a Direct workflow environment. Apply the same
annotation pattern to your own Direct RL environment. After your environment includes
the required LEAPP input, output, and state annotations, export a trained policy with:

.. code-block:: bash

Expand All @@ -41,7 +39,7 @@ artifacts. If you omit it, the export is written next to the checkpoint.

.. warning::

This tutorial covers exporting Direct workflow policies only. Direct workflow
This tutorial covers exporting direct rl policies only. direct rl
policies are not currently supported by
``scripts/reinforcement_learning/leapp/deploy.py``.

Expand All @@ -54,7 +52,7 @@ For more information on the export arguments, see the

.. literalinclude:: ../../../../scripts/tutorials/06_deploy/anymal_c_env.py
:language: python
:emphasize-lines: 20, 100-118, 85-88
:emphasize-lines: 20, 75-77, 92-105
:linenos:


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