Development Guide

This section explains how development work is organized in the repository and where the operational guidance actually lives.

Read This Section In Order

1. Tooling and Validation explains the practical commands for environment setup, CLI entrypoints, quality checks, and sanity checks. It is the documentation-facing version of .github/prompts/tooling.prompt.md.
2. Backlog and Internal Docs explains how to use Backlog.md for planned work and how to read the developer-oriented documents under backlog/docs/.

Repository Landmarks

• lav2/: package source for controllers, dynamics, trajectories, tasks, and runtime helpers
• lav2/assets/: MuJoCo MJCF, meshes, and USD assets
• scripts/: thin wrappers for backend-specific launch flows
• .github/prompts/: operational prompts used by contributors and coding agents
• backlog/: project planning, milestones, tasks, and internal reference docs

Engineering Conventions

• Reuse VehicleParams as the source of truth for control and dynamics constants.
• Preserve vector layouts and shape contracts across NumPy and Torch variants.
• Keep rate limits, clipping logic, and zero-division guards intact unless the task explicitly requires behavior changes.
• Update README and docs navigation whenever you change a public workflow.

Scope of This Guide

The pages in this section intentionally focus on development workflow rather than implementation theory. They summarize and organize the operational content that was previously scattered across CONTRIBUTING.md, .github/prompts/, and backlog/docs/.