PACE on mjlab

⚠️ Experimental project: this project has not been fully tested. If you encounter a problem, please open an issue or submit a pull request.

Upstream project: leggedrobotics/pace-sim2real

This is the mjlab implementation of PACE's actuator and joint system identification pipeline. It maintains the original ANYmal-D example and user entry points while replacing Isaac Sim/Isaac Lab with MuJoCo-Warp.

See Installation and Usage for the standard chirp → CMA-ES → plot workflow.