Merge branch 'main' into main

CONTRIBUTING.md

@@ -1,28 +1,55 @@
 # Contributing to Menagerie
 
-We want Menagerie to be a true community-driven effort that continuously improves and grows over time for the benefit of the entire research community. As such, we welcome contributions that:
+We want Menagerie to be a true community-driven effort that continuously
+improves and grows over time for the benefit of the entire research community.
+As such, we welcome contributions that:
 
 - Fix issues with an existing model
-- Improve the realism of a model (e.g. via [system identification](https://en.wikipedia.org/wiki/System_identification))
+- Improve the realism of a model (e.g. via
+  [system identification](https://en.wikipedia.org/wiki/System_identification))
 - Add an entirely new model
 
 Note that Menagerie follows [Google's Open Source Community Guidelines](https://opensource.google/conduct/).
 
 ## How to contribute
 
-Whether you want to fix an issue with an existing model, improve it, or add a completely new model, please get in touch with us first (ideally _before_ starting work if it's something major) by opening a new [issue](https://github.com/deepmind/mujoco_menagerie/issues). Coordinating up front makes it much easier to avoid frustration later on.
+Whether you want to fix an issue with an existing model, improve it, or add a
+completely new model, please get in touch with us first (ideally _before_
+starting work if it's something major) by opening a new
+[issue](https://github.com/google-deepmind/mujoco_menagerie/issues).
+Coordinating up front makes it much easier to avoid frustration later on.
 
-Once we reach an agreement on the proposed change, please submit a [pull request](https://github.com/deepmind/mujoco_menagerie/pulls) (PR) so that we can review your implementation.
+Once we reach an agreement on the proposed change, please submit a
+[pull request](https://github.com/google-deepmind/mujoco_menagerie/pulls) (PR)
+so that we can review your implementation.
 
-## Code Style
+## XML Style
 
-You can browse existing models to get a general sense of the style we adopt for our MJCF (XML) files. In no particular order, we try to adhere to the following guidelines:
+You can browse existing models to get a general sense of the style we adopt for
+our MJCF (XML) files. In no particular order, we try to adhere to the following
+guidelines:
 
 - Use 2-space indentation
-- Make generous use of default classes to reduce redundancies in the kinematic tree
-- Preserve attribute ordering: compiler, asset and default class definitions first, then worldbody and actuators, etc.
+- Make generous use of default classes to reduce redundancies in the kinematic
+  tree
+- Preserve attribute ordering: compiler, asset and default class definitions
+  first, then worldbody and actuators, etc.
 - Always have a `scene.xml` that includes the model
 
+Furthermore, we automatically format our XMLs in [Visual Studio Code](https://code.visualstudio.com/)
+using the [XML Language Support by Red Hat](https://marketplace.visualstudio.com/items?itemName=redhat.vscode-xml)
+extension. Once installed, you will need to edit its settings as follows:
+
+- View > Command Palette > `Preferences: Open User Settings`
+- Search for XML
+- `Enforce quote style` → preferred
+- `Max line width` → 120
+- `Preserve attribute line breaks` → toggle OFF
+- `Xml › Format: Space Before Empty Close Tag` → toggle OFF
+
+Once installed, you can format an XML file by opening the command palette and
+executing `Format Document`.
+
 ## Unit Tests
 
 Before submitting your PR, you can test your change locally by invoking pytest:
@@ -31,10 +58,20 @@ Before submitting your PR, you can test your change locally by invoking pytest:
 pytest test/
 ```
 
-This same test will run on GitHub CI once you open your PR. Currently, `model_test.py` simply simulates each robot for a fixed duration of time and checks that no simulation instabilities occur. In the future, we will likely add more tests that check for model realism (e.g., that a trajectory in real matches one in simulation).
+This same test will run on GitHub CI once you open your PR. Currently,
+`model_test.py` simply simulates each robot for a fixed duration of time and
+checks that no simulation instabilities occur. In the future, we will likely add
+more tests that check for model realism (e.g., that a trajectory in real matches
+one in simulation).
 
 ## Contributor License Agreement
 
-Contributions to this project must be accompanied by a Contributor License Agreement (CLA). You (or your employer) retain the copyright to your contribution; this simply gives us permission to use and redistribute your contributions as part of the project. Head over to <https://cla.developers.google.com/> to see your current agreements on file or to sign a new one.
+Contributions to this project must be accompanied by a Contributor License
+Agreement (CLA). You (or your employer) retain the copyright to your
+contribution; this simply gives us permission to use and redistribute your
+contributions as part of the project. Head over to <https://cla.developers.google.com/>
+to see your current agreements on file or to sign a new one.
 
-You generally only need to submit a CLA once, so if you've already submitted one (even if it was for a different project), you probably don't need to do it again.
+You generally only need to submit a CLA once, so if you've already submitted one
+(even if it was for a different project), you probably don't need to do it
+again.

FAQ.md

@@ -7,10 +7,10 @@ arm. This site can subsequently be used to rigidly attach an end-effector,
 like a gripper, to the arm.
 
 If you are using
-[PyMJCF](https://github.com/deepmind/dm_control/tree/main/dm_control/mjcf), you
-can use the following code snippet to do this. Any `qpos` or `ctrl` keyframes
-defined in the arm will be automatically modified to account for the added
-degrees of freedom.
+[PyMJCF](https://github.com/google-deepmind/dm_control/tree/main/dm_control/mjcf),
+you can use the following code snippet to do this. Any `qpos` or `ctrl`
+keyframes defined in the arm will be automatically modified to account for the
+added degrees of freedom.
 
 ```python
 def attach_hand_to_arm(