| # 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 bugfixes, 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. | |
| 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/). | |