Contributing

Bug fixes and documentation improvements are welcome straight away. For new tasks, MDP changes or paper reproductions, open an issue first: the MDP is shared, and methods are expressed as presets and tasks rather than forks (Modularity). Planned work: Roadmap.

Development setup

git clone https://github.com/wbc-mjlab/wbc-mjlab.git && cd wbc-mjlab
make sync                  # CUDA env + dev tools (make sync-cpu without a GPU)
uvx pre-commit install     # optional: format and lint on commit

make format	ruff format + autofix
make lint	ruff format --check + ruff check
make smoke	wbc-mjlab-list-envs — every task registers
make test	pytest
make check	lint + smoke
make docs · make docs-watch	Build the docs · live-reload server (uv sync --group docs first; see docs/BUILDING.md)

Repository layout

src/wbc_mjlab/
  env/                  shared MDP: template (wbc_env_cfg.py) and terms (mdp/)
  presets/              method recipes: apply_wbc, apply_zest, …
  robots/g1/            the in-tree robot: model, actuators, tasks
  robots/custom.py      robots added from model files (robot.yaml)
  tasks/                WbcTaskConfig and registration
  motion/               conversion, formats, mirroring
  export/               policy.onnx + config.yaml
  studio/               WBC Studio: services, web UI (web/), viser UI
  extension.py          register_wbc_extension
data/<robot>/           motion libraries (samples/ versioned)
docs/                   this site
tests/                  pytest suite

Pull requests

1. Branch from main; keep each PR to one change.

2. Run make format and make check; make test for code changes.

3. Smoke-test what you touched — a short train / play on --dataset samples.

4. Update the docs page that describes the behaviour.

5. Link the issue (Closes #N).

Where changes go

Change	Guide
A paper’s setup as a task	Add a task or preset — neutral names in code, the paper in the task description and Research & citations
A new robot	Add a robot — an extension package, not a fork
A new reward / observation / sampling term	env/mdp/ — after an issue
Docs	docs/source/ — how-to guides show tasks, concepts explain, reference pages list facts

Help and license

Questions and bugs: issues (simulation stack: mjlab issues). Contributions are licensed Apache 2.0 (LICENSE).