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Open-source prep: MIT relicense, templates, SPDX, scrub UW (#59)
Preparing mj_environment for public release (see personalrobotics/robot-code#3). Licensing: - LICENSE: BSD-3 → MIT, Copyright (c) 2025 Siddhartha Srinivasa. - pyproject.toml: license = "MIT" (SPDX), authors email siddh@cs.washington.edu → siddhartha.srinivasa@gmail.com, urls added, ruff config added. - README.md: "BSD-3-Clause — Personal Robotics Laboratory, University of Washington" → "MIT — see LICENSE". - SPDX + copyright header on every .py (src/, tests/, demos/). Templates synced from robot-code/.github-templates/. Code cleanup: - Moved mid-file imports in environment.py to the top (no circular dep). - Wrapped one 135-char line. - ruff check --fix + ruff format (incl. unsafe fixes: `== True/False` → direct). - [tool.ruff] config: 120 line-length, F/E/W/I, __init__.py F401 ignore. Verified: 129 tests pass, ruff check clean, ruff format clean.
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‎.github/CODEOWNERS‎

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* @siddhss5

‎.github/ISSUE_TEMPLATE/bug_report.md‎

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---
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name: Bug report
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about: Report a reproducible bug
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labels: bug
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---
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## Environment
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- OS:
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- Python version:
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- uv version:
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- Package version or commit:
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## Reproduction
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<!-- Minimal steps to reproduce the problem. -->
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## Expected behavior
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## Actual behavior
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## Logs / traceback
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```
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```

‎.github/ISSUE_TEMPLATE/config.yml‎

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blank_issues_enabled: false
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contact_links:
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- name: Questions and discussion
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url: https://github.com/personalrobotics/robot-code/discussions
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about: Ask questions or discuss design in the umbrella repo.

‎.github/ISSUE_TEMPLATE/improvement.md‎

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---
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name: Improvement
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about: Propose an enhancement to existing functionality
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labels: enhancement
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---
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## Motivation
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<!-- What problem or limitation prompts this improvement? -->
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## Proposal
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<!-- What should change, concretely? -->
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## Alternatives considered

‎.github/ISSUE_TEMPLATE/task.md‎

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---
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name: Task
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about: A planned unit of work
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labels: task
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---
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## Goal
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## Acceptance criteria
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- [ ]
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## Notes

‎.github/pull_request_template.md‎

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## Summary
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<!-- One or two sentences describing what this PR does and why. -->
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## Changes
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<!-- Bulleted list of the concrete changes made. -->
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-
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## Testing
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- [ ] `uv run pytest tests/ -v` passes
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- [ ] `uv run ruff check .` passes
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- [ ] `uv run ruff format --check .` passes
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- [ ] Integration tested locally against the robot-code workspace (if cross-repo)
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## Breaking changes
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- [ ] None
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- [ ] Yes (describe migration below):
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## Related issues
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<!-- e.g. Fixes #123, Part of personalrobotics/robot-code#3 -->

‎.github/workflows/ci.yml‎

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name: CI
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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workflow_dispatch:
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concurrency:
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group: ci-${{ github.ref }}
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cancel-in-progress: true
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jobs:
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test:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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python-version: ["3.10", "3.11", "3.12"]
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steps:
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- uses: actions/checkout@v4
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- name: Set up uv
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uses: astral-sh/setup-uv@v5
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with:
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enable-cache: true
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python-version: ${{ matrix.python-version }}
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- name: Install dependencies
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run: uv sync --all-extras --dev
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- name: Ruff lint
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run: uv run ruff check .
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- name: Ruff format check
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run: uv run ruff format --check .
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- name: Pytest
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run: |
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if [ -d tests ]; then
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uv run pytest tests/ -v
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else
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echo "No tests/ directory; skipping pytest."
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fi
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notify-robot-code:
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needs: test
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if: github.event_name == 'push' && github.ref == 'refs/heads/main'
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runs-on: ubuntu-latest
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steps:
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- name: Dispatch integration run
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uses: peter-evans/repository-dispatch@v3
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with:
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token: ${{ secrets.ROBOT_CODE_DISPATCH_TOKEN }}
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repository: personalrobotics/robot-code
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event-type: sibling-updated
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client-payload: '{"repo":"${{ github.event.repository.name }}","sha":"${{ github.sha }}"}'

‎CODE_OF_CONDUCT.md‎

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# Code of Conduct
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This project adopts the [Contributor Covenant, version 2.1][cc].
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The full text is available at <https://www.contributor-covenant.org/version/2/1/code_of_conduct/>.
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## Reporting
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Instances of unacceptable behavior may be reported privately to the project
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maintainer at **siddhartha.srinivasa@gmail.com**. All reports will be
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reviewed and investigated promptly and fairly.
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[cc]: https://www.contributor-covenant.org/version/2/1/code_of_conduct/

‎CONTRIBUTING.md‎

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# Contributing
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This repository is part of the [robot-code workspace](https://github.com/personalrobotics/robot-code).
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All projects in the workspace share a common layout (`src/` + `tests/`), a single
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package manager (`uv`), and a common CI setup.
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## Development setup
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```bash
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git clone https://github.com/personalrobotics/robot-code
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cd robot-code
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./setup.sh
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```
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This clones every sibling repo (including this one) into a single uv workspace
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and runs `uv sync`. You can then work in any sibling's directory.
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## Running tests and linters
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From inside this repo:
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```bash
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uv run pytest tests/ -v
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uv run ruff check .
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uv run ruff format --check .
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```
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From the workspace root, you can also run the cross-repo integration suite:
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```bash
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uv run pytest tests/integration -v
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```
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## Pull requests
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- Branch from `main`. Open a PR with a clear summary and test plan.
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- Per-repo CI (ruff + pytest) must pass.
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- Cross-repo integration CI in robot-code runs automatically when this repo's
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`main` advances, and on scheduled nightly runs.
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- Review is by [@siddhss5](https://github.com/siddhss5) (enforced via CODEOWNERS).
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## Package manager: uv only
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We use [uv](https://docs.astral.sh/uv/) exclusively. **Do not use pip.**
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The workspace layout in robot-code relies on uv's workspace resolution.
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## License
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By contributing, you agree that your contributions will be licensed under the
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MIT License (see [LICENSE](LICENSE)).

‎LICENSE‎

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BSD 3-Clause License
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MIT License
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Copyright (c) 2025, Personal Robotics Laboratory
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All rights reserved.
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Copyright (c) 2025 Siddhartha Srinivasa <siddhartha.srinivasa@gmail.com>
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

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