mujoco

# Contributing to MuJoCo

We intend for MuJoCo to be a true community-driven project and look forward to
accepting your contributions!

## Before you contribute

### Documentation, forums

Please read MuJoCo's [documentation](https://mujoco.readthedocs.io/) and look
through current topics on our GitHub
[issues](https://github.com/google-deepmind/mujoco/issues) and
[discussions](https://github.com/google-deepmind/mujoco/discussions) pages.

### Contributor License Agreement

Contributions to this project must be accompanied by a Contributor License
Agreement (CLA). You (or your employer) retain the copyright to your
contribution; this simply gives us permission to use and redistribute your
contributions as part of the project. Head over to
<https://cla.developers.google.com/> to see your current agreements on file or
to sign a new one.

You generally only need to submit a CLA once, so if you've already submitted one
(even if it was for a different project), you probably don't need to do it
again.

## Contributing

### Reporting bugs

How to submit a good bug report:

- Use a clear and descriptive title.

- Make it easy to reproduce the problem. If this requires a model, attach it as
a zip file to the bug report. The model and steps required to reproduce the
problem should be *minimal*, in the sense that irrelevant parts are
removed.

- Clearly state what is the expected behavior.

- Include an illustrative screenshot, if relevant.

Try to provide context:

- If the problem is new, see if you can reproduce it in an older version.
What's the most recent version in which the problem doesn't happen?

- Can you reproduce the problem on multiple platforms?

### Suggesting enhancements

Before submitting an enhancement suggestion:

- Check if you're using the [latest
version](https://github.com/google-deepmind/mujoco/releases/latest) of MuJoCo.

- Perform a quick [search](https://github.com/google-deepmind/mujoco/issues) to
see if the enhancement has already been suggested. If it has, add a comment to
the existing issue instead of opening a new one.

How to submit a good enhancement suggestion:

- Use a clear and descriptive title.

- Describe the current behaviour and the behavior which you hope to see instead.

- Explain why this enhancement would be useful.

- Specify the version of MuJoCo and platform/OS you are using.

### Contributing code

- Except for small and straightforward bug fixes, please get in touch with us
before you start working on a contribution so that we can help and possibly
guide you. Coordinating up front makes it much easier to avoid frustration later
on.

- All submissions require review. Please use GitHub pull requests for this
purpose. Please consult
[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
information on pull requests.

- Write tests. MuJoCo uses [googletest](https://github.com/google/googletest)
for C++ tests, [absltest](https://abseil.io/docs/python/guides/testing) for
Python binding code and [nunit](https://nunit.org/) for C# code in the Unity
plugin. In most cases, a pull request will only be accepted if it includes
tests. MuJoCo's internal codebase is currently lacking in test coverage. If you
want to modify a function that isn't covered by tests, you'll be expected to
contribute tests for the existing functionality, not just your modification. In
fact, writing a test for existing code is a great way to get started with
contributions.

- Resolve compiler warnings.

- All existing tests must pass.

- Follow the [Style Guide](./STYLEGUIDE.md). In particular, adequately comment
your code.

- Make small pull requests. We will likely ask you to split up a large pull
request into self-contained, smaller ones, especially if the PR is trying to
achieve multiple things.

- Respond to reviewers. Please be responsive to any questions and comments.

- If you are not concerned with having your contribution attributed to you via
  Git authorship, please let us know in the PR. It is significantly easier
  for us to directly incorporate changes rather than going through the
  full pull request import process. This will get your changes merged more
  quickly.

Once you have met all the requirements, your code will be merged.
Thanks for improving MuJoCo!

### Community guidelines

This project follows Google's
[Open Source Community Guidelines](https://opensource.google/conduct/).