Contributing

Bug fixes and documentation improvements are welcome. For new tasks, MDP changes, or paper reproductions, open an issue first — we keep a shared MDP in env/ and express paper differences as registered tasks.

Planned themes: Roadmap. Layers: Architecture overview, Shared MDP, Extensions.

Setup

Follow Installation (uv or pip from source), then:

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 Tasks and presets

5. Example: uv run wbc-mjlab-train --task Wbc-... --dataset ...

New robot: use an extension package — Extension packages.

Help

• Issues: wbc-mjlab/wbc-mjlab#issues

• mjlab: mujocolab/mjlab#issues

License

Contributions are Apache 2.0 (see LICENSE).