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Contributing to GRiD

The contributor guide (code and test expectations, the docs build pipeline, licensing) is the site page Contributing to GRiD (source: docs/source/contribution_guidelines.rst). This file covers only the GitHub-side mechanics.

Setup

git clone --recursive https://github.com/A2R-Lab/GRiD.git
cd GRiD
bash install/base_install.sh && source .venv/bin/activate   # single `pip install -e .`

Add a backend extra (pip install -e ".[jax]" / ".[torch]" / ".[all]") for the Python-wrapper surface; bash install/developer_install.sh adds the developer tooling (Pinocchio, docs, comparators). Tests, the signed gpu-proof.json receipt and the receipt CI job are documented in the CUDA validation guide.

Issues

Open a GitHub issue to report a bug (include the robot URDF or its name, the backend, the GPU/CUDA/driver versions and the exact command) or to discuss a substantial change before you start on it. Algorithm or feature requests are welcome there too, as is a Python reference implementation in RBDReference for any algorithm you would like to see on the GPU.

Pull requests

  • Keep a PR focused: one change, with its motivation, implementation and validation results. The PR template is the checklist reviewers apply.
  • Read CLAUDE.md first. It holds the durable engineering conventions (single-block / thread-invariant kernels, byte-identical codegen discipline, fix-don't-guard, Pinocchio-authoritative physics) that both AI agents and humans follow in this repo.
  • Keep the two surfaces in agreement: every algorithm exists as a numpy oracle in RBDReference (validated against Pinocchio) and as generated CUDA (validated against that oracle). Preserve that invariant.
  • Keep codegen byte-identical: a refactor that should not change emitted code must produce a byte-identical grid.cuh (regenerate before/after and diff). Never land a non-identical diff without a CUDA-equivalence sign-off.
  • Respect receipt CI: a push that touches the correctness inputs turns the verify-receipt job red until a refreshed gpu-proof.json is committed; the CUDA validation guide explains the everyday refresh.
  • Peer libraries (GLASS, RBDReference, URDFParser) change in their own repositories; a GRiD PR then bumps the submodule pin to a commit available from those remotes.
  • Commits: short single-line messages, no trailer footers; stage paths explicitly rather than git add -A.

Code of conduct

This project follows the Contributor Covenant. By participating you are expected to uphold it.