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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](https://mujoco.readthedocs.io) and look
through current topics on our GitHub
[issues](https://github.com/deepmind/mujoco/issues) and
[discussions](https://github.com/deepmind/mujoco/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
proplem 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](https://github.com/deepmind/mujoco/releases/latest) of MuJoCo.
- Perform a quick [search](https://github.com/deepmind/mujoco/issues) 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 enhacement 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](https://help.github.com/articles/about-pull-requests/) for more
information on pull requests.
- Write tests. MuJoCo uses [googletest](https://github.com/google/googletest)
for C++ tests, [absltest](https://abseil.io/docs/python/guides/testing) for
Python binding code and [nunit](https://nunit.org/) 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](./STYLEGUIDE.md). 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](https://opensource.google/conduct/).
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