---
name: Pull Request
about: Submit code contributions to plume_nav_sim
title: ''
labels: []
assignees: []

---

# Pull Request for plume_nav_sim 🔬

**Thank you for contributing to the plume navigation research community!** 🎯

This pull request template helps ensure your contributions meet our quality standards and integrate smoothly with the existing codebase. Please complete all relevant sections to help maintainers review your changes effectively.

<!-- Your contributions help advance reinforcement learning research! -->

## 📝 Description

### Summary
<!-- Provide a clear and concise description of what this PR accomplishes -->


### Motivation and Context
<!-- Why is this change needed? What problem does it solve? -->
<!-- If it fixes an open issue, link to the issue: Fixes #123 -->


### Detailed Changes
<!-- Describe the changes in detail -->
<!-- What files were modified and how? -->
<!-- What new functionality was added? -->
<!-- What bugs were fixed? -->


## 🏷️ Type of Change

<!-- Select all that apply -->
- [ ] **Bug fix** (non-breaking change that fixes an issue)
- [ ] **New feature** (non-breaking change that adds functionality)
- [ ] **Breaking change** (fix or feature that would cause existing functionality to change)
- [ ] **Performance improvement** (non-breaking change that improves speed/memory usage)
- [ ] **Code refactoring** (non-breaking change that restructures code without changing functionality)
- [ ] **Documentation update** (changes to documentation, examples, or comments)
- [ ] **Test improvement** (additional tests or test infrastructure improvements)
- [ ] **Build/CI improvement** (changes to build process or continuous integration)

## 🔍 Component Impact

<!-- Select all components affected by this change -->
- [ ] **Environment API** (`reset()`, `step()`, `render()`, `close()` methods)
- [ ] **Action/Observation Spaces** (Discrete actions, Box observations)
- [ ] **Plume Model** (Static Gaussian plume, concentration calculations)
- [ ] **Rendering Pipeline** (RGB array generation, matplotlib visualization)
- [ ] **State Management** (Agent position, episode handling, boundary enforcement)
- [ ] **Reward System** (Reward calculation, termination logic)
- [ ] **Seeding/Reproducibility** (Random number generation, deterministic behavior)
- [ ] **Testing Framework** (Test cases, benchmarks, validation scripts)
- [ ] **Documentation** (README, docstrings, examples)
- [ ] **Build/Package** (pyproject.toml, dependencies, installation)
- [ ] **CI/CD** (GitHub Actions, workflows, automation)

## ✅ Testing and Validation

### Test Execution
- [ ] **All existing tests pass** (run `python scripts/run_tests.py`)
- [ ] **New tests added** for new functionality (if applicable)
- [ ] **Test coverage maintained** (>90% overall, >95% for core components)
- [ ] **Integration tests updated** (if API changes were made)
- [ ] **Example scripts still work** (verify examples execute without errors)

### Specific Test Categories
- [ ] **Unit Tests** - Component isolation and individual function testing
- [ ] **Integration Tests** - Component interaction and end-to-end workflow testing
- [ ] **API Compliance Tests** - Gymnasium API specification validation
- [ ] **Reproducibility Tests** - Seeding and deterministic behavior validation
- [ ] **Performance Tests** - Benchmark validation (if performance-critical)

### Manual Testing
<!-- Describe manual testing performed -->

```python
# Include code showing how you tested the changes
# Example:
import gymnasium as gym
import plume_nav_sim

plume_nav_sim.register_env()
env = gym.make("PlumeNav-StaticGaussian-v0")
obs, info = env.reset(seed=42)
# ... test specific changes
```

### Test Results
<!-- Paste relevant test output or attach test reports -->

```
# Example test output:
======================== test session starts ========================
platform linux -- Python 3.10.12
cachedir: .pytest_cache
rootdir: /path/to/plume_nav_sim
collected 89 items

tests/test_environment_api.py ................. [100%]
tests/test_plume_model.py .............. [100%]
tests/test_rendering.py .......... [100%]

======================== 89 passed in 12.34s ========================
```

## ⚡ Performance Assessment

<!-- Complete this section for any changes that might affect performance -->

### Performance Impact
- [ ] **No performance impact expected**
- [ ] **Performance improvement expected**
- [ ] **Minor performance impact** (acceptable trade-off)
- [ ] **Significant performance impact** (requires optimization)

### Performance Benchmarks
<!-- If your changes affect performance-critical code, include benchmark results -->

| Metric | Before | After | Change | Target |
|--------|--------|-------|--------|--------|
| Environment Step | X.XXms | X.XXms | +X.X% | <1ms |
| Episode Reset | X.XXms | X.XXms | +X.X% | <10ms |
| RGB Rendering | X.XXms | X.XXms | +X.X% | <5ms |
| Human Rendering | X.XXms | X.XXms | +X.X% | <50ms |
| Memory Usage | X.XXmb | X.XXmb | +X.X% | <50mb |

### Performance Testing Commands
```bash
# Include commands used to test performance
python benchmarks/environment_performance.py
python scripts/run_tests.py --categories performance
```

## 🔧 Code Quality

### Code Style and Standards
- [ ] **Black formatting applied** (`black src/ tests/ examples/`)
- [ ] **Flake8 linting passes** (`flake8 src/ tests/ examples/`)
- [ ] **Import organization correct** (`isort src/ tests/ examples/`)
- [ ] **Type hints added** for new functions (where appropriate)
- [ ] **Docstrings added** for all new public functions/classes
- [ ] **Pre-commit hooks pass** (`pre-commit run --all-files`)

### Documentation
- [ ] **Code is self-documenting** with clear variable and function names
- [ ] **Complex logic is commented** with inline comments
- [ ] **Docstrings follow Google style** with parameters and return types
- [ ] **README updated** (if user-facing changes)
- [ ] **Examples updated** (if new features added)
- [ ] **CHANGELOG updated** (if applicable)

## 🛡️ Compatibility and Standards

### API Compatibility
- [ ] **Gymnasium API compliance maintained** (reset, step, render, close methods)
- [ ] **Backward compatibility preserved** (existing code continues to work)
- [ ] **Action/Observation spaces unchanged** (or properly versioned)
- [ ] **Return formats consistent** (5-tuple for step(), 2-tuple for reset())

### Platform Compatibility
- [ ] **Linux compatibility verified** (primary platform)
- [ ] **macOS compatibility considered** (if platform-specific changes)
- [ ] **Windows compatibility considered** (limited support)
- [ ] **Python version compatibility** (3.10-3.13)

### Dependency Management
- [ ] **New dependencies justified** and documented
- [ ] **Version constraints appropriate** (minimum versions specified)
- [ ] **Dependencies compatible** with scientific Python ecosystem
- [ ] **Optional dependencies handled gracefully**

## 🔬 Scientific Reproducibility

### Reproducibility Requirements
- [ ] **Deterministic behavior maintained** (same seed = same results)
- [ ] **Seeding mechanism preserved** (proper random state management)
- [ ] **Mathematical accuracy maintained** (numerical precision)
- [ ] **Cross-platform consistency** (results consistent across platforms)

### Research Standards
- [ ] **Scientific accuracy verified** (for algorithm/mathematical changes)
- [ ] **Research references included** (if implementing published methods)
- [ ] **Parameter defaults justified** (if changing default values)
- [ ] **Experimental validation** (if claiming performance improvements)

## 📋 Review Checklist

### Self-Review Completed
- [ ] **Code review performed** by author
- [ ] **All files reviewed** for correctness and style
- [ ] **Debug code removed** (print statements, temporary changes)
- [ ] **Commit messages clear** and descriptive
- [ ] **Git history clean** (squashed/rebased if necessary)

### CI/CD Integration
- [ ] **GitHub Actions pass** (all automated checks)
- [ ] **Test matrix succeeds** (Python 3.10-3.13, Linux/macOS)
- [ ] **Coverage reports generated** (and thresholds met)
- [ ] **Performance benchmarks pass** (if applicable)
- [ ] **Build succeeds** (package installation works)

### Community Standards
- [ ] **Contributing guidelines followed** (CONTRIBUTING.md)
- [ ] **Issue references included** (closes/fixes/relates to issues)
- [ ] **Breaking changes documented** (if applicable)
- [ ] **Migration guide provided** (for breaking changes)

## 🔗 Related Issues and Context

<!-- Link any related issues, discussions, or pull requests -->
- Closes #
- Fixes #
- Related to #
- Depends on #
- Blocks #

## 📸 Visual Changes (if applicable)

<!-- Include screenshots, GIFs, or visual examples for UI/rendering changes -->
<!-- Before/After comparisons are especially helpful -->

## 🧪 Additional Testing Instructions

<!-- Provide specific instructions for reviewers to test your changes -->

### Environment Setup for Testing
```bash
# Specific setup instructions if needed
git checkout your-branch-name
cd src/backend
python scripts/setup_dev_env.py
source plume-nav-env/bin/activate
```

### Testing Scenarios
<!-- List specific scenarios reviewers should test -->
1. **Basic Functionality Test**:
   ```python
   # Test code here
   ```

2. **Edge Case Test**:
   ```python
   # Edge case test code here
   ```

3. **Performance Test** (if applicable):
   ```bash
   # Performance testing commands
   ```

## 🤝 Collaboration and Future Work

### Collaboration
- [ ] **Open to feedback** and suggestions for improvement
- [ ] **Available for follow-up** questions and clarifications
- [ ] **Willing to make revisions** based on review feedback

### Future Considerations
<!-- Mention any follow-up work or future improvements this enables -->


## 📚 Additional Notes

<!-- Any additional information that might be helpful for reviewers -->
<!-- Links to research papers, design documents, or external resources -->
<!-- Explanation of design decisions or trade-offs made -->
<!-- Known limitations or areas for future improvement -->

---

## For Maintainers

**Review Checklist:**
- [ ] PR description is clear and comprehensive
- [ ] Changes align with project goals and architecture
- [ ] Code quality meets project standards
- [ ] Testing is appropriate and comprehensive
- [ ] Performance impact is acceptable
- [ ] Documentation is updated and accurate
- [ ] Community guidelines are followed
- [ ] CI/CD checks pass

**Merge Readiness:**
- [ ] All review comments addressed
- [ ] Approved by required reviewers
- [ ] CI/CD pipeline succeeds
- [ ] No conflicts with target branch
- [ ] Ready for community release

**Post-Merge Actions:**
- [ ] Update project documentation
- [ ] Announce significant changes
- [ ] Update examples/tutorials if needed
- [ ] Plan follow-up work if applicable

---

*Thank you for contributing to plume_nav_sim! Your work helps advance reinforcement learning research and supports the scientific community.* 🚀🔬
