Initial open sourcing of MuJoCo.
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# How to Contribute
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# Contributing to MuJoCo
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We are still in the process of preparing the MuJoCo codebase for open-sourcing,
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however the full source code for the Python bindings and the Unity plugin are
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already released. You are welcome to send us pull requests to improve any part
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of this repository.
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We intend for MuJoCo to be a true community-driven project and look forward to
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accepting your contributions!
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## Contributor License Agreement
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## Before you contribute
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### Documentation, forums
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Please read MuJoCo's [documentation](https://mujoco.readthedocs.io) and look
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through current topics on our GitHub
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[issues](https://github.com/deepmind/mujoco/issues) and
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[discussions](https://github.com/deepmind/mujoco/discussions) pages.
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### Contributor License Agreement
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Contributions to this project must be accompanied by a Contributor License
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Agreement. You (or your employer) retain the copyright to your contribution,
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this simply gives us permission to use and redistribute your contributions as
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part of the project. Head over to <https://cla.developers.google.com/> to see
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your current agreements on file or to sign a new one.
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Agreement (CLA). You (or your employer) retain the copyright to your
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contribution; this simply gives us permission to use and redistribute your
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contributions as part of the project. Head over to
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<https://cla.developers.google.com/> to see your current agreements on file or
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to sign a new one.
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You generally only need to submit a CLA once, so if you've already submitted one
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(even if it was for a different project), you probably don't need to do it
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again.
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## Code reviews
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## Contributing
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All submissions require review. Please use GitHub pull requests for this
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purpose. Consult
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### Reporting bugs
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How to submit a good bug report:
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- Use a clear and descriptive title.
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- Make it easy to reproduce the problem. If this requires a model, attach it as
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a zip file to the bug report. The model and steps required to reproduce the
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proplem should be *minimal*, in the sense that irrelevant parts are
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removed.
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- Clearly state what is the expected behavior.
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- Include an illustrative screenshot, if relevant.
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Try to provide context:
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- If the problem is new, see if you can reproduce it in an older version.
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What's the most recent version in which the problem doesn't happen?
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- Can you reproduce the problem on multiple platforms?
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### Suggesting enhancements
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Before submitting an enhancement suggestion:
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- Check if you're using the [latest
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version](https://github.com/deepmind/mujoco/releases/latest) of MuJoCo.
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- Perform a quick [search](https://github.com/deepmind/mujoco/issues) to see if
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the enhancement has already been suggested. If it has, add a comment to the
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existing issue instead of opening a new one.
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How to submit a good enhacement suggestion:
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- Use a clear and descriptive title.
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- Describe the current behaviour and the behavior which you hope to see instead.
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- Explain why this enhancement would be useful.
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- Specify the version of MuJoCo and platform/OS you are using.
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### Contributing code
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- Except for small and straightforward bugfixes, please get in touch with us
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before you start working on a contribution so that we can help and possibly
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guide you. Coordinating up front makes it much easier to avoid frustration later
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on.
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- All submissions require review. Please use GitHub pull requests for this
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purpose. Please consult
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[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
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information on pull requests.
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- Write tests. MuJoCo uses [googletest](https://github.com/google/googletest)
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for C++ tests, [absltest](https://abseil.io/docs/python/guides/testing) for
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Python binding code and [nunit](https://nunit.org/) for C# code in the Unity
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plugin. In most cases, a pull request will only be accepted if it includes
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tests. MuJoCo's internal codebase is currently lacking in test coverage. If you
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want to modify a function that isn't covered by tests, you'll be expected to
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contribute tests for the existing functionality, not just your modification. In
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fact, writing a test for existing code is a great way to get started with
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contributions.
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- Resolve compiler warnings.
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- All existing tests must pass.
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- Follow the [Style Guide](./STYLEGUIDE.md). In particular, adequately comment
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your code.
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- Make small pull requests. We will likely ask you to split up a large pull
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request into self-contained, smaller ones, especially if the PR is trying to
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achieve multiple things.
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- Respond to reviewers. Please be responsive to any questions and comments.
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Once you have met all the requirements, your code will be merged.
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Thanks for improving MuJoCo!
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### Community guidelines
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This project follows Google's
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[Open Source Community Guidelines](https://opensource.google/conduct/).
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