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CONTRIBUTING.md

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Contributing to MuJoCo MPC

We want MuJoCo MPC to be a true community-driven effort that continuously improves and grows over time for the benefit of the entire research community. As such, we welcome contributions such as:

  • Adding new optimizers and estimators
  • Adding new tasks and models

Note that MJPC follows Google's Open Source Community Guidelines.

How to contribute

Whether you want to fix an existing issue or work on adding new tasks and models, please get in touch with us first (ideally before starting work if it's something major) by opening a new issue. Coordinating up front makes it much easier to avoid frustration later on.

Once we reach an agreement on the proposed change, please submit a pull request (PR) so that we can review your implementation.

Code Style

This code adheres to the Google style.

  • Include the standard copyright and license at the top of each file.
  • The VSCode extension 'Clang-Format' can be used to format the C/C++ code to Google style.
  • The package cpplint should be used to check for additional C/C++ style issues. Note: includes should follow the ordering found throughout MuJoCo MPC for consistency.
  • The package Pyink can be used to format Python code. Please use: --pyink-indentation 2 --line-length 80.

New Tasks

When submitting a PR for a new task that depends on third-party models, including from MuJoCo Menagerie and dm_control, do not include the xml model or assets in the task directly. Instead, modify the task CMakeLists to copy the xml model and/or assets to the build binary.

If the xml model needs to be modified, create a patch that is applied in the CMakeLists. A patch can be generated using the following command:

diff -u {original}.xml {modified}.xml > {modified}.xml.patch

The first three lines of the generated patch file will need to be be adapted for your use case. Please see an example for a template.

Unit Tests

Before submitting your PR, you can test your change locally by invoking ctest:

cd build/mjpc/test
ctest --output-on-failure .

This same test will run on GitHub CI once you open your PR.

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.