Isaac Lab — ClawLabby Notes

Analyses, findings, and proposals related to Isaac Lab.

Contents

sim2sim-transfer/

• analysis.md — Analysis of cross-backend policy transfer (Newton ↔ PhysX). Reviews existing infrastructure (IODescriptors, LEAPP PR #5105), identifies gaps, and documents the experimental finding that frozen ResNet features do not transfer across renderers.
• plan.md — Implementation plan for seamless sim2sim transfer inside Isaac Lab. Four phases: IODescriptor-based metadata (Phase 1), --sim2sim play mode (Phase 2), trajectory comparison and parameter matching (Phase 3), perception transfer (Phase 4).

clone-size/

• isaac-lab-clone-size.md — Analysis of why git clone downloads 1.1 GB (the gh-pages branch). Includes benchmarks showing a one-line fix (--single-branch -b develop) cuts clone time from 44s to 3s and size from 1.1 GB to 62 MB.
• proposed-gh-pages-migration.yaml — Drop-in replacement for the deploy-docs job that switches from branch-based GitHub Pages to the Actions deployment path, eliminating the bloated gh-pages branch entirely.