contributing guidelines

CONTRIBUTING.md

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+How to contribute
+===================================================
+
+Please follow the guidelines below if you are interested in making contributions to this library:
+
+1. *Open a new issue* and describe the bug you want to fix or the feature you want to implement (see the TODO list below for ideas) so it can be assigned to you
+
+2. [*Fork the repository*](https://help.github.com/articles/fork-a-repo/) and *make a new branch* where updates will be added
+
+3. Have [*descriptive commit messages*](http://tbaggery.com/2008/04/19/a-note-about-git-commit-messages.html) especially if the API is affected, and *check your commits*  to make sure it compiles and runs
+
+4. *Include tests* for new features or significant changes
+
+5. *Push commits to your fork* and [*make a pull request*](https://help.github.com/articles/creating-a-pull-request/)
+
+
+TODO List
+------
+More or less in order of priority
+
+- Load environments from urdf/xml style formats to construct signed distance fields
+- Load robot urdf/xml files and construct forward kinematics for them automatically
+- Basic python wrapper for front end scripting that can replace the matlab wrapper
+- Simple visualizer for environment, robot, trajectory, etc on the python wrapper side
+- Alternate obstacle cost functions like, barrier function