When reporting issues please include as much detail as possible about your operating system, roboticstoolbox version and python version. Whenever possible, please also include a brief, self-contained code example that demonstrates the problem.

Thanks for your interest in contributing code!

We welcome all kinds of contributions including:

• New features
• Bug and issue fixes
• Cleaning, adding or adding to documentation and docstrings
• Adding or fixing Python types

Keep in mind the following when making your contribution:

• Keep pull requests to a single feature/bug fix. This makes it much easier to review and merge. If you wish to contribure multiple different fixes or features, that means you should make multiple pull requests.

• For API changes, propose the API change in the discussions first before opening a pull request.

• Code additions should be formatted using black. Our configuration for black can be found in the pyproject.toml file under the heading [tool.black]. Avoid reformatting code using other formatters.

• Code addition should be linted using flake8. Our configuration for black can be found in the pyproject.toml file under the heading [tool.flake8].

• Any code addition needs to be covered by unit tests and not break existing tests. Our unit tests live in robotics-toolbox-python/tests/. You can install the dev dependencies using the command pip install -e '.[dev,docs]'. You can run the test suite using the command pytest --cov=roboticstoolbox/ --cov-report term-missing. Check the output to make sure your additions have been covered by the unit tests.

• All methods and classes need to be documented with an appropriate docstring. See our style guide for documentation. Keep the ordering and formatting as described by the style guide.

• New additions should be typed appropriately. See our typing style guide.