ANYmal-D PACE workflow

The Isaac-Pace-Anymal-D-v0 task fixes the simplified ANYmal-D model at z=1 m, uses 400 Hz physics/control, and identifies 12 armatures, 12 passive dampings, 12 Coulomb frictions, 12 encoder biases, and one torque delay.

uv run python scripts/pace/data_collection.py --task Isaac-Pace-Anymal-D-v0 --duration 20
uv run python scripts/pace/fit.py --task Isaac-Pace-Anymal-D-v0 --num_envs 256
uv run python scripts/pace/plot_trajectory.py --plot_trajectory

Use --plot_score only after setting sim2real.cmaes.save_optimization_process = True; the default omits progress.pt to save disk space.

Use a short collection and four candidates first; the full population should be sized to available GPU memory as described in Usage.