Hi PACE team,
First of all, great work on PACE — the overall implementation is remarkably clean and effective. I had a discussion about this project with Chong Zhang from RSL at ETH, and we both appreciated the core idea of aligning sim2real physical behavior by hacking simulator parameters rather than relying on domain randomization alone.
I've been working on a port of PACE to Isaac Gym using the legged_gym framework, and have achieved similar results. The motivation is that a non-trivial portion of the community is still GPU-constrained and relies on Isaac Gym / legged_gym rather than Isaac Lab — so I think there's real value in maintaining an Isaac Gym branch.
One thing I also added beyond the original PACE design is a distinction between position-tracked joints and velocity-tracked joints, with specific handling for wheel joints. This feels like a natural extension for wheeled-legged platforms.
I'd love to contribute this work back to the PACE repository as an Isaac Gym branch. Would the maintainers be open to this? Happy to open a PR and discuss implementation details. Thanks for building and sharing such great work for the sim2real community! 🙏
Hi PACE team,
First of all, great work on PACE — the overall implementation is remarkably clean and effective. I had a discussion about this project with Chong Zhang from RSL at ETH, and we both appreciated the core idea of aligning sim2real physical behavior by hacking simulator parameters rather than relying on domain randomization alone.
I've been working on a port of PACE to Isaac Gym using the legged_gym framework, and have achieved similar results. The motivation is that a non-trivial portion of the community is still GPU-constrained and relies on Isaac Gym / legged_gym rather than Isaac Lab — so I think there's real value in maintaining an Isaac Gym branch.
One thing I also added beyond the original PACE design is a distinction between position-tracked joints and velocity-tracked joints, with specific handling for wheel joints. This feels like a natural extension for wheeled-legged platforms.
I'd love to contribute this work back to the PACE repository as an Isaac Gym branch. Would the maintainers be open to this? Happy to open a PR and discuss implementation details. Thanks for building and sharing such great work for the sim2real community! 🙏