Contributing#

We welcome contributions to the Robot Control Stack!

Development Setup#

  1. Clone the repository.

  2. Install dependencies (see Getting Started).

Development Tools#

Install the development dependencies:

# from root directory
pip install -ve '.[dev]' --no-build-isolation

We provide a Makefile with several useful commands for development.

Python#

  • Formatting:

    make pyformat

    Uses isort and black to format code.

  • Linting:

    make pylint

    Runs ruff and mypy.

  • Testing:

    make pytest

    Runs the test suite.

  • Type Stubs:

    make stubgen

    Generates Python type stubs for the C++ bindings.

C++#

  • Formatting:

    make cppformat

    Uses clang-format to format C++ code.

  • Linting:

    make cpplint

    Runs clang-tidy.

General#

  • Commit:

    make commit

    Uses commitizen to help you create conventional commits.

Code Style#

  • Python: We use ruff for linting and formatting.

  • C++: We use clang-format and clang-tidy.

Commit Messages#

We follow the Conventional Commits specification. This allows us to automatically generate changelogs and determine semantic versioning.

Format: <type>[optional scope]: <description>

Types:

  • feat: A new feature

  • fix: A bug fix

  • docs: Documentation only changes

  • style: Changes that do not affect the meaning of the code (white-space, formatting, etc)

  • refactor: A code change that neither fixes a bug nor adds a feature

  • perf: A code change that improves performance

  • test: Adding missing tests or correcting existing tests

  • build: Changes that affect the build system or external dependencies

  • ci: Changes to our CI configuration files and scripts

  • chore: Other changes that don’t modify src or test files

Examples:

  • feat(fr3): add support for new gripper

  • fix(sim): fix collision detection bug

  • docs: update installation instructions

See conventionalcommits.org for more details.

Pull Requests#

  1. Fork the repo and create a new branch for your feature or fix.

  2. Make your changes and commit them using the conventional commit format.

  3. Push your branch and open a Pull Request.

  4. Ensure all CI checks pass.