.. _contributing:

Contributing
============

Bug fixes and documentation improvements are welcome. For new **tasks**, MDP
changes, or paper reproductions, `open an issue <https://github.com/wbc-mjlab/wbc-mjlab/issues>`_
first — we keep a shared MDP in ``env/`` and express paper differences as
registered tasks.

Planned themes: :doc:`roadmap`. Layers: :doc:`architecture`, :doc:`mdp/index`, :doc:`extensions/index`.

Setup
-----

Follow :doc:`installation` (``uv`` or ``pip`` from source), then:

.. code-block:: bash

   uv run wbc-mjlab-list-envs

Optional: ``uvx pre-commit install`` after ``make sync`` (uv workflow).

Build the documentation site: ``make docs`` (requires ``uv sync --group docs``).

Pull requests
-------------

1. Fork, branch from ``main``, keep PRs focused.
2. Run ``make check`` (lint + smoke) or at minimum ``make format`` and ``make smoke``.
3. Smoke-test what you touched (short train/play on ``--dataset samples`` when relevant).
4. Link the issue: ``Closes #N``.

Adding a paper task
-------------------

1. Preset: ``presets/<method>.py`` with an ``apply_*`` cfg mutator (or stack existing presets)
2. Task builder in ``robots/<id>/tasks.py``; register ``WbcTaskConfig``
3. Neutral names in code; cite the paper in the task description / docstring
4. Document under :doc:`tasks/index`
5. Example: ``uv run wbc-mjlab-train --task Wbc-... --dataset ...``

**New robot:** use an extension package — :doc:`extensions/extensions`.

Help
----

- **Issues:** https://github.com/wbc-mjlab/wbc-mjlab/issues
- **mjlab:** https://github.com/mujocolab/mjlab/issues

License
-------

Contributions are Apache 2.0 (see `LICENSE <https://github.com/wbc-mjlab/wbc-mjlab/blob/main/LICENSE>`_).