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Contributing to Judo 🥋

Thank you for your interest in contributing to judo! 🎉 We welcome bug reports, feature suggestions, documentation improvements, and pull requests of all kinds.

📌 Guidelines Overview

  • Bug reports: Please include a minimal reproducible example and relevant log output.
  • Feature requests: Keep them concise and focused. If you're unsure, open an issue for discussion first.
  • Pull requests: Follow our style guide, write clear commit messages, and document any new features or changes.

⚙️ Development Setup

We recommend using either conda or pixi to manage your development environment.

Conda Setup

conda create -n judo python=3.13
conda activate judo
pip install -e .[dev]
pre-commit install
pybind11-stubgen mujoco -o typings/

Pixi Setup

# Install pixi (once)
curl -fsSL https://pixi.sh/install.sh | sh

# Activate dev environment
pixi shell -e dev

# First-time setup
pre-commit install
pybind11-stubgen mujoco -o typings/

🧹 Code Style and Linting

We use the following tools:

Tool Purpose
Ruff Formatting and linting
Pyright Static type checking
Pre-commit Auto-formatting and checks
Pytest Unit and integration tests
Sphinx Documentation
Codecov Code coverage reporting

To check your code before committing:

pre-commit run --all-files   # style, formatting, etc.
pyright                       # type checks (not part of pre-commit)
pytest                        # run the test suite

All CI checks must pass before a PR can be merged.

🧪 Adding a New Task or Optimizer

If you add a new task or optimizer:

  1. Register it with the appropriate entry point in the codebase.
  2. Update judo/tasks/README.md with:
    • Task name
    • Brief description
    • Default parameters
    • Known limitations or tips

📝 Submitting a Pull Request

Before opening a pull request, please:

  • Ensure your code is tested and documented.
  • Run all pre-commit and type checks.
  • Keep PRs focused and concise (open multiple PRs if needed).
  • Use clear and descriptive commit messages.

Example:

feat(task): add fr3_stack task with novel constraints
fix(mppi): guard against div-by-zero in cost calculation

📦 Package updates and versioning

If you are adding a significant change and would like it to be reviewed as a new package release, you will need to update a few things:

  1. CHANGELOG.md: Following the format in the file, add your changes to the changelog with the proper PR references
  2. pyproject.toml: Update the version of judo_rai appropriately
  3. pixi.lock: Update the pixi.lock file. You can do this by running pixi shell and exiting after it's done.

💬 Discussions

Have questions or ideas?

  • Use GitHub Issues to report bugs or suggest features.
  • For general discussion, clarifications, or help, open a "Discussion" or start a draft PR.

🙏 Thanks

Judo is an early-stage research project maintained by a small team. We greatly appreciate community feedback and help. Whether you fix a typo or add a new planning strategy, your contribution makes a difference!

Thank you for supporting open-source robotics. 🤖