Contributing

Open an issue to discuss a substantial change before submitting a pull request. Keep changes focused and describe how they were verified.

License and sign-off

ADI-authored material and new contributions are licensed under Apache-2.0. Existing Isaac Lab and Tesollo material retains its BSD-3-Clause terms as described in NOTICE.

Every contribution must include a Developer Certificate of Origin sign-off. By signing off, you agree to the Developer Certificate of Origin 1.1 and certify that you have the right to submit the contribution under its license. Add the sign-off to each commit using:

git commit -s

This adds Signed-off-by: Your Name <your-email> to the commit message. Maintainers must check sign-offs before accepting contributions.

Development checks

Install Git LFS and fetch the assets before running the tests or demos. After running setup_env.sh and activating its environment, install the additional test tools and enable the hooks:

python -m pip install pytest pre-commit scipy rtree
pre-commit install

pre-commit run --all-files
python -m pytest tests -q

The tests cover taxel mapping, rigid transforms, force calculation, visualization, exterior geometry and mounting without launching Isaac Sim. Changes to sensing or geometry must also pass the live checks in the validation guide.

Licensing documents

LICENSE and NOTICE at the repository root are the canonical license and attribution files. Preserve existing third-party copyright notices and license terms when modifying adapted material. Keep LICENSE_Tesollo exactly as supplied by Tesollo.

The three license files are also copied into source/dex01_sim_asset/ so that both Python wheels and source distributions include them. When updating the root files, update those copies in the same change. CI checks that they match.

Publish the final approved SBOM and licensing collateral as release attachments. Keep generated documents unchanged; do not substitute dependency listings for the release SBOM.

Documentation changes

Follow the documentation maintainer guide. Build with make -C docs html in the documentation environment before review.