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 tests must pass in **both double and single precision** (with and
    without `mjUSESINGLE`). When writing or updating tests with floating-point
    comparisons, use the precision-aware utilities in
    [`test/fixture.h`](test/fixture.h) (e.g. `MjTol`, `MjNear`), and follow the
    tolerance calibration workflow documented there using `MJTOL_SCALE=0`.

-   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/).