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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 and look through current topics on our GitHub issues and 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 of MuJoCo.

  • Perform a quick search 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 for more information on pull requests.

  • Write tests. MuJoCo uses googletest for C++ tests, absltest for Python binding code and nunit 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. 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.