Add GitHub Issue and Discussion templates.

PiperOrigin-RevId: 669365189
Change-Id: I6e14bdf68de0ddc0029937291d7258d26eb65b75

.github/DISCUSSION_TEMPLATE/Asking-for-Help.yaml

@@ -0,0 +1,68 @@
+body:
+  - type: textarea
+    attributes:
+      label: Intro
+      description: Who are you, what do you use MuJoCo for?
+      value: |
+        Hi!
+
+        I am a ([graduate / undergrad] student / professor / researcher) at XYZ, I use MuJoCo for my research on ABC.
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: My setup
+      description: MuJoCo / MJX version, API (C or Python), architecture, OS + version.
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: My question
+      description: What you are trying to do, what problem have you encountered?
+  - type: textarea
+    attributes:
+      label: Minimal model and/or code that explain my question
+      description: Please include a loadable MJCF, not a partial snippet. If your model requires binary assets to load, attach a zip file.
+      value: |
+        If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
+
+        Model:
+        <details>
+        <summary>minimal XML</summary>
+
+        ```XML
+
+        <mujoco>
+          <worldbody>
+            <light pos="0 0 1"/>
+            <geom type="sphere" size="1" rgba="1 0 0 1"/>
+          </worldbody>
+        </mujoco>
+
+        ```
+        </details>
+
+        Code:
+        ```python
+        import mujoco
+        import mediapy as media
+        model = mujoco.MjModel.from_xml_string(xml)
+        data = mujoco.MjData(model)
+
+        with mujoco.Renderer(model) as renderer:
+          mujoco.mj_forward(model, data)
+          renderer.update_scene(data)
+
+          media.show_image(renderer.render())
+        ```
+    validations:
+      required: false
+  - type: checkboxes
+    attributes:
+      label: Confirmations
+      options:
+        - label: I searched the [latest documentation](https://mujoco.readthedocs.io/en/latest/overview.html) thoroughly before posting.
+          required: true
+        - label: I searched previous [Issues](https://github.com/google-deepmind/mujoco/issues) and [Discussions](https://github.com/google-deepmind/mujoco/discussions), I am certain this has not been raised before.
+          required: true
+

.github/ISSUE_TEMPLATE/Bug-Report.yaml

@@ -0,0 +1,92 @@
+name: 🐛 Bug Report
+description: >-
+  Please only use this if you're sure you've found a bug. Thanks! 🙏
+labels: bug
+body:
+  - type: textarea
+    attributes:
+      label: Intro
+      description: Who are you, what do you use MuJoCo for?
+      value: |
+        Hi!
+
+        I am a ([graduate / undergrad] student / professor / researcher) at XYZ, I use MuJoCo for my research on ABC.
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: My setup
+      description: MuJoCo / MJX version, API (C or Python), architecture, OS + version.
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: What's happening? What did you expect?
+      description: A clear and concise description of the current behaviour vs what you expected. If helpful to understand the issue, attach screenshots/videos.
+      value: |
+        Setting `rgba="1 0 0 1"` renders as **green**, I expected it to render as **red**.
+
+        Here is a screen-shot showing a green sphere:
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: Steps for reproduction
+      description: Steps to reproduce the issue.
+      value: |
+        1. Load the model below.
+        2. Run the code below.
+        3. See green sphere (should be red).
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: Minimal model for reproduction
+      description: Please include a loadable MJCF, not a partial snippet. If your model requires binary assets to load, attach a zip file.
+      value: |
+        If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
+
+        <details>
+        <summary>minimal XML</summary>
+
+        ```XML
+
+        <mujoco>
+          <worldbody>
+            <light pos="0 0 1"/>
+            <geom type="sphere" size="1" rgba="1 0 0 1"/>
+          </worldbody>
+        </mujoco>
+
+        ```
+        </details>
+    validations:
+      required: false
+  - type: textarea
+    attributes:
+      label: Code required for reproduction
+      description: Code required for reproduction of the bug.
+      value: |
+        ```python
+        import mujoco
+        import mediapy as media
+        model = mujoco.MjModel.from_xml_string(xml)
+        data = mujoco.MjData(model)
+
+        with mujoco.Renderer(model) as renderer:
+          mujoco.mj_forward(model, data)
+          renderer.update_scene(data)
+
+          media.show_image(renderer.render())
+        ```
+    validations:
+      required: false
+  - type: checkboxes
+    attributes:
+      label: Confirmations
+      options:
+        - label: I searched the [latest documentation](https://mujoco.readthedocs.io/en/latest/overview.html) thoroughly before posting.
+          required: true
+        - label: I searched previous [Issues](https://github.com/google-deepmind/mujoco/issues) and [Discussions](https://github.com/google-deepmind/mujoco/discussions), I am certain this has not been raised before.
+          required: true
+

.github/ISSUE_TEMPLATE/Feature-Request.yaml

@@ -0,0 +1,26 @@
+name: 🚀 Feature request
+description: Submit a proposal/request for a new MuJoCo feature
+labels: enhancement
+body:
+- type: textarea
+  attributes:
+    label: The feature, motivation and pitch
+    description: >
+      A clear and concise description of the feature proposal. Please outline the motivation for the proposal. Is your feature request related to a specific problem? e.g., *"I'm working on X and would like Y to be possible"*. If this is related to another GitHub issue, please link here too.
+  validations:
+    required: true
+- type: textarea
+  attributes:
+    label: Alternatives
+    description: >
+      A description of any alternative solutions or features you've considered, if any.
+- type: textarea
+  attributes:
+    label: Additional context
+    description: >
+      Add any other context or screenshots about the feature request.
+- type: markdown
+  attributes:
+    value: >
+      Thanks for contributing 🎉!
+

.github/ISSUE_TEMPLATE/ask_for_help.md

@@ -1,48 +0,0 @@
----
-name: Asking for help
-about: Request help from the developers and the community
-title: ''
-labels: question
-assignees: ''
-
----
-
-**How to ask for help**
-
-First, read our quick guide to
-[asking good questions](https://github.com/google-deepmind/mujoco#asking-questions).
-Below is a template for you to use:
-
-Hi,
-
-I'm a (student / professor / engineer) and I'm trying to use MuJoCo for _____.
-
-I'm looking for some help with ____.
-
-Here is a model which explains my question:
-
-<details>
-  <summary>minimal XML</summary>
-
-```XML
-<mujoco>
-  <worldbody>
-    <light pos=".4 -.4 .3" dir="-2 2 -1.5" diffuse=".6 .6 .6"/>
-    <light pos="-.2 -.4 .3" dir="1 2 -1.5" diffuse=".6 .6 .6"/>
-    <geom type="plane" size=".5 .5 .01"/>
-    <body name="ball" pos="0 0 0.05">
-      <freejoint/>
-      <geom size=".03"/>
-    </body>
-    <body name="hammer" pos="-.05 0 0.18">
-      <joint axis="0 1 0"/>
-      <geom type="capsule" size=".01" fromto="0 0 0 -.15 0 0"/>
-      <geom type="box" size=".02 .02 .03" pos="-.15 0 0"/>
-    </body>
-  </worldbody>
-</mujoco>
-```
-
-</details>
-
-Here is a screenshot / video, illustrating my question:

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,25 +0,0 @@
----
-name: Bug report
-about: Create a report to help us improve
-title: ''
-labels: bug
-assignees: ''
-
----
-
-**How to submit a good bug report**
-
-- Are you sure this is a bug? If not, consider using the "Ask for help" or "Feature request" templates.
-
-- Use a clear and descriptive title.
-
-- Make it easy to reproduce the problem.
-
-- Include a ***minimal*** model that demonstrates the problem. If the model is small, include it as inline XML. If it requires binary assets, attach it as a zip file.
-
-- Include a screenshot or video, if relevant.
-
-- Include the following context:
-  - Operating system.
-  - MuJoCo version (and if the bug is new, the version where it used to work).
-  - For Python issues, what bindings are you using (i.e `mujoco`, `dm_control`, `mujoco-py`)?

.github/ISSUE_TEMPLATE/config.yaml

@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: 🙏 Asking for Help
+    about: Start a new discussion
+    url: https://github.com/google-deepmind/mujoco/discussions/categories/asking-for-help

.github/ISSUE_TEMPLATE/feature_request.md

@@ -1,20 +0,0 @@
----
-name: Feature request
-about: Suggest an idea for MuJoCo
-title: ''
-labels: enhancement
-assignees: ''
-
----
-
-**Is your feature request related to a problem? Please describe.**
-A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
-
-**Describe the solution you'd like**
-A clear and concise description of what you want to happen.
-
-**Describe alternatives you've considered**
-A clear and concise description of any alternative solutions or features you've considered.
-
-**Additional context**
-Add any other context or screenshots about the feature request here.

README.md

@@ -99,44 +99,14 @@ and [style guide](STYLEGUIDE.md).
 
 ## Asking Questions
 
-Questions and requests for help are welcome on the GitHub
+Questions and requests for help are welcome as a GitHub
-[Issues](https://github.com/google-deepmind/mujoco/issues) page and should focus
+["Asking for Help" Discussion](https://github.com/google-deepmind/mujoco/discussions/categories/asking-for-help)
-on a specific problem or question.
+and should focus on a specific problem or question.
 
-[Discussions](https://github.com/google-deepmind/mujoco/discussions) should
+## Bug reports and feature requests
-address wider concerns that might require input from multiple participants.
 
-Here are some guidelines for asking good questions:
+GitHub [Issues](https://github.com/google-deepmind/mujoco/issues) are reserved
-
+for bug reports, feature requests and other development-related subjects.
-1. Search for existing questions or issues that touch on the same subject.
-
-   You can add comments to existing threads or start new ones. If you start a
-   new thread and there are existing relevant threads, please link to them.
-
-2. Use a clear and specific title. Try to include keywords that will make your
-   question easy for other to find in the future.
-
-3. Introduce yourself and your project more generally.
-
-   If your level of expertise is exceptional (either high or low), and it might
-   be relevant to what we can assume you know, please state that as well.
-
-4. Take a step back and tell us what you're trying to accomplish, if we
-   understand you goal we might suggest a different type of solution than the
-   one you are having problems with
-
-5. Make it easy for others to reproduce the problem or understand your question.
-
-   If this requires a model, please include it. Try to make the model minimal:
-   remove elements that are unrelated to your question. Pure XML models should
-   be inlined. Models requiring binary assets (meshes, textures), should be
-   attached as a `.zip` file. Please make sure the included model is loadable
-   before you attach it.
-
-6. Include an illustrative screenshot or video, if relevant.
-
-7. Tell us how you are accessing MuJoCo (C API, Python bindings, etc.) and which
-   MuJoCo version and operating system you are using.
 
 ## Related software
 MuJoCo forms the backbone of many environment packages, but these are too many