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Contributing to Drake Models

Thank you for your interest in contributing to Drake Models.

Development Setup

git clone https://github.com/D-sorganization/Drake_Models.git
cd Drake_Models
pip install -e ".[dev]"
pre-commit install

Code Quality

All code must pass:

  • Linting: ruff check src tests scripts
  • Formatting: ruff format --check src tests scripts
  • Type checking: mypy src --config-file pyproject.toml
  • Tests: python3 -m pytest tests/ -v

Pull Request Process

  1. Create a feature branch from main.
  2. Write tests for any new functionality.
  3. Ensure all CI checks pass before requesting review.
  4. Keep PRs focused on a single concern.

Coding Standards

  • Use type annotations on all public functions (disallow_untyped_defs = true).
  • Use logging.getLogger(__name__) instead of print() in library code.
  • Use Design-by-Contract: validate inputs with precondition guards.
  • Follow Drake Z-up convention (gravity along -Z, forward along X).
  • Use xml.etree.ElementTree for all XML generation (no lxml dependency).
  • Extract magic numbers to named constants.

Reporting Issues

Open a GitHub issue with a clear description and, if applicable, a minimal reproduction case.