add CONTRIBUTING.md.

CONTRIBUTING.md

@@ -0,0 +1,51 @@
+# Contributing to LeIsaac
+
+Thanks for your interest in contributing to LeIsaac! This document describes how to report issues, propose changes, and submit pull requests.
+
+## Code of conduct
+
+Be respectful and constructive. Assume good intent.
+
+## Getting help / asking questions
+
+- Check the project documentation: https://lightwheelai.github.io/leisaac/
+- If you're unsure whether something is a bug or a usage question, open a GitHub Issue with details.
+
+## Reporting bugs
+
+When filing an issue, please include:
+
+- What you expected to happen vs what happened
+- Minimal steps to reproduce
+- Your environment (OS, GPU, driver, Python version, Isaac Sim / IsaacLab version)
+- Relevant logs and stack traces (as text)
+
+## Proposing changes
+
+For non-trivial changes (new features, refactors, API changes), please open an issue first to align on scope and design.
+
+## Pull request guidelines
+
+- Keep PRs focused: one logical change per PR.
+- Write clear commit messages.
+- Update documentation when behavior or usage changes.
+- Describe a manual test plan in the PR.
+
+## Style and linting
+
+LeIsaac uses `pre-commit` for formatting and lint checks (see `.pre-commit-config.yaml` at the repo root). GitHub Actions also runs these checks on every PR/update.
+
+It is strongly recommended to run the checks locally before opening/updating a PR.
+
+```bash
+# Install pre-commit:
+pip install pre-commit
+# Install the git hooks (one time per clone):
+pre-commit install
+# Run all hooks on all files (recommended before opening/updating a PR):
+pre-commit run --all-files
+```
+
+## License
+
+By contributing, you agree that your contributions will be licensed under the project's license (see `LICENSE`).

README.md

@@ -26,6 +26,10 @@ Please refer to our [documentation](https://lightwheelai.github.io/leisaac/) to
 >
 > For more features and updates, please refer to the [News](https://lightwheelai.github.io/leisaac/#news) section on our website!
 
+## Contributing 🤝
+
+Please see [CONTRIBUTING.md](CONTRIBUTING.md) for how to report issues and submit pull requests.
+
 ## Citation 📝
 
 If you use leisaac, please cite it as follows.