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Contributing to PACE

First off, thanks for your interest in contributing to PACE 💙
This project is intended as a solid, research-grade foundation for sim-to-real transfer of legged robots, and external contributions are very welcome.

This document explains how to:

  • report bugs and request features
  • contribute code and documentation
  • add new examples (e.g. for your own robots) that may appear on the Examples page

1. Ways to contribute

You can help in many ways:

  • Bug reports – crashes, incorrect behavior, unclear error messages
  • Documentation improvements – typos, unclear sections, better explanations, new guides
  • New examples – full PACE workflows for other robots (data collection, parameter fitting, evaluation)
  • Core improvements – actuator models, optimization utilities, environment wrappers, etc.

If you plan a larger change (new robot integration, major API changes, etc.), please open a GitHub issue first so we can align on the design.

2. Development setup

Follow the installation instructions in the official documentation.

A typical setup:

# 1) Clone your fork
git clone git@github.com:<your-username>/pace-sim2real.git
cd pace-sim2real

# 2) Install PACE in editable mode inside the Isaac Lab environment
python -m pip install -e source/pace_sim2real

# 3) (Optional) Install pre-commit hooks
pip install pre-commit
pre-commit install

Before pushing:

pre-commit run --all-files

This will apply formatting and basic checks.

3. Git workflow

  1. Fork the repository (external contributors)
  2. Create a feature branch 
    git checkout -b feature/my-robot-example
  3. Make your changes (code + docs)
  4. Run formatting checks: 
    pre-commit run --all-files
  5. Push and open a Pull Request against main
    https://github.com/leggedrobotics/pace-sim2real

A PR should include:

  • a short summary
  • how it was tested (Isaac Lab version, GPU, commands)
  • for examples: which robot / platform it applies to

4. Adding a new example

We especially welcome examples for additional robots that demonstrate:

  • data collection
  • PACE parameter identification
  • evaluation and visualization
  • (optionally) deployment

See existing examples:
https://pace.filipbjelonic.com/examples/

4.1. Code and scripts

Please add your scripts under scripts/pace/, for example:

scripts/pace/
  data_collection_<robot>.py

Guidelines:

  • Reuse existing PACE components where possible
  • Avoid hard-coded absolute paths
  • Document any long-running processes
  • Avoid committing large binary data; provide generation scripts instead

4.2 Documentation page

Each example needs a documentation page under:

docs/examples/
  anymal.md
  <your_robot>.md

Typical structure:

  1. Overview
  2. Data collection (commands, trajectory details)
  3. Parameter identification
  4. Evaluation and visualization
  5. (Optional) Deployment instructions

Add it to the navigation in mkdocs.yml:

nav:
  - Examples:
      - Overview: examples/index.md
      - ANYmal: examples/anymal.md
      - <Your Robot Name>: examples/<your_robot>.md

4.3. Checklist before submitting an example

  • Example runs with supported Isaac Sim / Isaac Lab versions
  • Documentation matches the scripts
  • No large binary files included
  • Example appears correctly in the “Examples” section

5. Reporting bugs & requesting features

Please use GitHub Issues:
https://github.com/leggedrobotics/pace-sim2real/issues

Include:

  • PACE version / commit hash
  • Isaac Sim / Isaac Lab version
  • OS, CUDA, GPU
  • exact command(s) used
  • logs or error messages

Feature requests are welcome—please describe your use case (robot type, task, environment).

6. License

By contributing, you agree that your contributions are licensed under Apache-2.0, the same license as the project.

We aim to make PACE a reliable foundation for both research and industry.
If your contribution becomes part of a project, paper, or cool demo, feel free to mention it in your PR—we love seeing what people build on top of this!