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Contributing to PyPose

Thank you for your interest in contributing to PyPose! Our focus is on creating a state-of-the-art library for robotics research, and we are open to accepting various types of contributions. Before you start coding for PyPose, it is important to inform the PyPose team of your intention to contribute and specify the type of contribution you plan to make. These contributions may include but are not limited to:

  1. If you notice a typographical error in PyPose's code or documentation, you can submit a Pull Request directly to fix it.
    • If the changes you wish to make to PyPose involve significant modifications, it is recommended that you create an issue first. Within the issue, describe the error and information on how to reproduce the bug. Other developers will then review the issue and engage in discussion.
    • If you require additional information regarding a specific issue, please do not hesitate to request it, and we will gladly provide it to you.
  2. If you have an idea for a new feature in PyPose and wish to implement it, we recommend that you create an issue to post about your proposed feature. From there, we can discuss the design and implementation. Once we agree that the plan looks good, go ahead and implement it.

Once you implement and test your feature or bug-fix, please submit a Pull Request.

Workflow

This document covers a step-by-step guide of contributing. It will tell you how to start from setting up the code repository and create a Pull Request step by step. This guide is modified from OpenMMlab's contribution guide.

1. Fork and clone

If you are posting a pull request for the first time, you should fork the PyPose repository by clicking the Fork button in the top right corner of the GitHub page, and then the forked repositories will appear under your GitHub profile.

Then, you can clone the repositories to local:

git clone https://github.com/{your_github_id}/pypose.git
# or if you have set up the SSH-key based authentication, clone by:
# git clone git@github.com:{your_github_id}/pypose.git

After that, you should add official repository as the upstream repository

git remote add upstream https://github.com/pypose/pypose.git
# or the following if you have cloned using SSH-key based authentication
# git remote add upstream git@github.com:pypose/pypose.git

Check whether remote repository has been added successfully by git remote -v. The output should be like this:

origin	https://github.com/{your_github_id}/pypose.git (fetch)
origin	https://github.com/{your_github_id}/pypose.git (push)
upstream	https://github.com/pypose/pypose.git (fetch)
upstream	https://github.com/pypose/pypose.git (push)

or

origin	git@github.com:{your_github_id}/pypose.git (fetch)
origin	git@github.com:{your_github_id}/pypose.git (push)
upstream	git@github.com:pypose/pypose.git (fetch)
upstream	git@github.com:pypose/pypose.git (push)

Here's a brief introduction to origin and upstream. When we use "git clone", we create an "origin" remote by default, which points to the repository cloned from. In the above example, "origin" is your own forked repo. As for "upstream", we add it ourselves to point to the target repository, which is PyPose's official repo pypose/pypose. Of course, you could name it to any arbitrary name other than upstream. Usually, contributors will push the code to "origin". If the pushed code conflicts with the latest code in official("upstream"), the contributor should pull the latest code from upstream to resolve the conflicts, and then push to "origin" again. The posted Pull Request will be updated automatically.

2. Create a development branch

After cloning a local copy of the repo, we should create a branch based on the main branch to develop the new feature or fix the bug. The proposed branch name is username/pr_name

git checkout -b {your_github_id}/{pr_name}

In subsequent development, if the main branch of the local repository is behind the main branch of "upstream", we need to pull the upstream for synchronization, and then execute the above command:

git pull upstream main

3. Commit the code and pass the unit test

  • The committed code should pass through the unit test

    # Pass all unit tests
pytest

  • If the documents are modified/added, we should check the rendering result referring to guidance

4. Push the code to remote

We could push the local commits to remote after passing through the check of unit test. You can associate the local branch with your remote branch by adding -u option.

git push -u origin {branch_name}

This will allow you to use the git push command to push code directly next time, without having to specify a branch or the remote repository.

5. Create a Pull Request

(1) Create a pull request in GitHub's Pull request interface

(2) Modify the PR description accordingly so that other developers can better understand your changes

note

(a) The Pull Request description should contain the reason for the change, the content of the change, and the impact of the change, and be associated with the relevant Issue (see documentation)

(b) Check whether the Pull Request pass through the CI

image

CI will run unit test for the posted Pull Request in Linux environment. We can see the specific test information by clicking Details in the above image so that we can modify the code.

(3) If the Pull Request passes the CI, then you can wait for the review from other developers. You'll modify the code based on the reviewer's comments, and repeat the steps 3-4 until all reviewers approve it. Then, we will merge it ASAP.

6. Resolve conflicts

If your local branch conflicts with the latest main branch of "upstream", you'll need to resolove them. There are two ways to do this:

git fetch --all --prune
git rebase upstream/main

or

git fetch --all --prune
git merge upstream/main

If you are very good at handling conflicts, then you can use rebase to resolve conflicts, as this will keep your commit logs tidy. If you are not familiar with rebase, then you can use merge to resolve conflicts.

Documentation Rendering

1. Contributing to Documentation

1.1 Build docs locally

  1. Sphinx docs come with a makefile build system. To build PyPose documentation locally, run the following commands. Note that if you are on a clean (newly installed) Ubuntu, you may need to run sudo apt install build-essential before the following commands, but it is not needed for MacOS.
pip install -r requirements/docs.txt
cd docs
make html

  1. Then open the generated HTML page: docs/build/html/index.html.

  2. To clean and rebuild the doc:

make clean

1.2 Writing documentation

  1. For the most simple case, you only need to edit the Python files and add docstring to functions following Google style.

  2. Sometimes you may need to edit rst files like lietensor.rst, e.g., adding a new doc page. More details can be found at rst markdown.

  3. Commit your changes.