How to Contribute

We’d love to accept your patches and contributions to this project. There are just a few small guidelines you need to follow.

Contributor License Agreement

Contributions to this project must be accompanied by a Contributor License Agreement. 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.

Development Setup

Clone the repository, sync development dependencies with uv, and install the pre-commit hooks:

git clone https://github.com/google-deepmind/reaf-sim.git && cd reaf-sim

# Then install with one of:
make install  # For GPU, good for RL training

make install-cu12  # For CUDA 12 on Linux

make install-cpu  # Or for CPU only, (i.e. on macOS)

uv run pre-commit install

Before opening a pull request, run pre-commit (which formats with pyink and isort, checks copyright headers, and type-checks with pyrefly) and run the test suite:

uv run pre-commit run --all-files  # Format and type-check (or `make format` / `make typecheck`)
make test                          # Run pytest in parallel
make docs                          # Build HTML docs (or `make serve-docs` to preview locally)

Code Reviews

All submissions, including submissions by project members, require review via GitHub pull requests.

Updating the Changelog

Every pull request that introduces new features, fixes bugs, or modifies the API must include an entry in Changelog under the unreleased section. reaf-sim adheres to MuJoCo’s semantic versioning scheme; please review Versioning to understand how changes map to release levels.

Community Guidelines

This project follows Google’s Open Source Community Guidelines.