Import upstream snapshot c19f713c415a699a79d71cd96aa13c3104a05047

Upstream: https://github.com/michaelgillett/mjlab
Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047
Upstream-Branch: main

docs/source/contributing.rst

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+Contributing
+============
+
+Bug fixes and documentation improvements are always welcome.
+
+.. important::
+
+   For new features, please
+   `open an issue <https://github.com/mujocolab/mjlab/issues>`_ first so
+   we can discuss whether it fits the project scope.
+
+
+Development setup
+-----------------
+
+Clone the repository and sync dependencies:
+
+.. code-block:: bash
+
+   git clone https://github.com/mujocolab/mjlab.git && cd mjlab
+   uv sync
+
+Install pre-commit hooks to catch formatting and lint issues before each
+commit:
+
+.. code-block:: bash
+
+   uvx pre-commit install
+
+
+Common commands
+---------------
+
+The ``Makefile`` provides shortcuts for the most common development tasks:
+
+.. code-block:: bash
+
+   make format      # Format code and fix lint errors (ruff)
+   make type        # Type check (ty + pyright)
+   make check       # Format + type check
+   make test-fast   # Run tests, excluding slow ones
+   make test        # Run the full test suite
+   make test-all    # Format + type check + full test suite
+
+You can also run individual tests for faster iteration:
+
+.. code-block:: bash
+
+   uv run pytest tests/test_rewards.py
+
+Type checking (``make type``) is required. PRs that do not pass will be
+blocked.
+
+
+Building the docs
+-----------------
+
+Build the documentation locally:
+
+.. code-block:: bash
+
+   make docs
+
+The HTML output is written to ``docs/_build/``. For live reload during
+editing:
+
+.. code-block:: bash
+
+   make docs-watch
+
+
+Submitting a pull request
+-------------------------
+
+1. Fork the repository and create a feature branch.
+2. Make your changes.
+3. Run ``make test-all`` to verify formatting, type checking, and tests
+   pass.
+4. Add an entry to the "Upcoming version" section in
+   ``docs/source/changelog.rst`` under the appropriate category
+   (Added / Changed / Fixed), following
+   `Keep a Changelog <https://keepachangelog.com/>`_ conventions.
+5. Submit a pull request.
+
+
+Development with Claude Code
+----------------------------
+
+The repository includes a ``CLAUDE.md`` file at the project root. This file
+defines development conventions, style guidelines, and common commands for
+`Claude Code <https://claude.com/claude-code>`_. It is also a useful
+reference for human contributors since it captures the same rules enforced
+in CI.
+
+The project also includes shared commands in ``.claude/commands/``.
+Any contributor with Claude Code installed can invoke them as slash commands.
+
+``/update-mjwarp <commit-hash>``
+   Update the ``mujoco-warp`` dependency to a specific commit. This edits
+   ``pyproject.toml``, runs ``uv lock``, and opens a PR in one step.
+
+   .. code-block:: text
+
+      /update-mjwarp e28c6038cdf8a353b4146974e4cf37e74dda809a
+
+``/commit-push-pr``
+   Stage current changes, commit, push, and open a PR.
+