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Importing PACE

This section explains the recommended way to import the pace_sim2real package in your own projects.

The import structure is intentionally designed to:

  • keep the public API clean and future-proof,
  • separate user-facing interfaces from internal implementation details,
  • avoid accidental reliance on unstable deep module paths.

For most use cases, you should import directly from the top-level package:

from pace_sim2real import (
    PaceSim2realEnvCfg,
    PaceSim2realSceneCfg,
    PaceCfg,
    CMAESOptimizer,
)

These symbols form the official public API of PACE.

Utilities and helper modules

Lower-level actuator models are intentionally namespaced under utils and should be imported explicitly:

from pace_sim2real.utils import (
    PaceDCMotorCfg,
    PaceDCMotor,
)

IsaacLab environment registration

To make PACE environments available in the Gym / IsaacLab registry, the task package must be imported after the simulator is launched.

import pace_sim2real.tasks  # Registers PACE environments

A typical usage pattern looks like this:

from isaaclab.app import AppLauncher
from pace_sim2real import PaceCfg

# Launch Isaac Sim / Omniverse
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app

# Register PACE environments
import pace_sim2real.tasks

After this, environments such as Isaac-Pace-Anymal-D-v0 become available.

Framework evolution & stability

PACE is an actively evolving research framework. While we aim for long-term stability, parts of the system may change as new capabilities, robots, and workflows are integrated.

What you should expect

  • The core concepts and philosophy of PACE will remain consistent.

  • The public API is designed to be stable, but may receive deprecations or refinements as the framework matures.

  • Internal implementation details and experimental features may change more frequently.

We follow a best-effort approach to:

  • clearly communicate breaking changes in release notes,

  • provide migration hints when applicable,

  • keep examples and documentation aligned with the latest recommended usage.

If you build long-term projects on top of PACE, we recommend pinning a specific version and consulting the changelog when upgrading.