82 lines
2.3 KiB
Markdown
82 lines
2.3 KiB
Markdown
# Contributing to SPIDER
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Thank you for your interest in contributing to SPIDER (Scalable Physics-Informed DExterous Retargeting)! We welcome contributions from the community to help improve our physics-based retargeting framework.
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## Getting Started
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Before you begin, please review our project structure and architectural guidelines.
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### Environment Setup
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We recommend using `uv` for dependency management, though `conda` is also supported. The project requires **Python 3.12+**.
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**Option 1: Using uv (Recommended)**
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```bash
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uv python install 3.12
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uv sync --python 3.12
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pip install --ignore-requires-python --no-deps -e .
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````
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**Option 2: Using conda**
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```bash
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conda create -n spider python=3.12
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conda activate spider
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python -m pip install --upgrade pip
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python -m pip install -r requirements.txt
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python -m pip install --no-deps -e .
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```
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## Development Workflow
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### Code Style and Formatting
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We use **Ruff** for all linting and formatting. Please ensure your code passes all checks before submitting a Pull Request.
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* **Style:** Google-style docstrings
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* **Line Length:** 88 characters
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**Commands:**
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```bash
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# Run linter
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ruff check .
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# Auto-fix simple issues
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ruff check --fix .
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# Format code
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ruff format .
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```
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### Running Tests
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We have specific tests for individual simulator backends. Please run the relevant tests for the modules you modify.
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```bash
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# Test MJWP (Mujoco Warp) simulator
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uv run spider/simulators/mjwp_test.py
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# Test DexMachina simulator
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uv run spider/simulators/dexmachina_test.py
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# Test HDMI simulator
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uv run spider/simulators/hdmi_test.py
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```
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## How to Contribute
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1. **Fork the repository** and create your branch from `main`.
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2. **Install dependencies** using the setup instructions above.
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4. **Run tests and linter.** Ensure `ruff check .` passes and all relevant simulator tests run successfully.
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5. **Submit a Pull Request.** Provide a clear description of your changes and link to any relevant issues.
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### Adding New Features
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* **New Robots:** Requires adding MJCF assets, updating `spider/config.py` embodiment mappings, and adjusting reward weights.
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* **New Datasets:** Requires a new processor in `spider/process_datasets/` that outputs standard NPZ files.
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## License
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By contributing, you agree that your contributions will be licensed under the project's existing license.
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