We want MuJoCo MPC to be a true community-driven effort that continuously improves and grows over time for the benefit of the entire research community. As such, we welcome contributions such as:
- Adding new optimizers and estimators
- Adding new tasks and models
Note that MJPC follows Google's Open Source Community Guidelines.
Whether you want to fix an existing issue or work on adding new tasks and models, please get in touch with us first (ideally before starting work if it's something major) by opening a new issue. Coordinating up front makes it much easier to avoid frustration later on.
Once we reach an agreement on the proposed change, please submit a pull request (PR) so that we can review your implementation.
This code adheres to the Google style.
Before submitting your PR, you can test your change locally by invoking ctest:
cd build
ctest --output-on-failure .
This same test will run on GitHub CI once you open your PR.
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.