Version 2.1: documentation, public API headers, and sample programs.

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+# How to Contribute
+
+We are in the process of preparing the MuJoCo codebase for open-sourcing.
+When that happens, we will be grateful to receive your contributions.
+Until then, you are welcome to participate in discussions, post
+issues on our tracker, or send us pull requests to improve the sample program
+code or documentation.
+
+## Contributor License Agreement
+
+Contributions to this project must be accompanied by a Contributor License
+Agreement. You (or your employer) retain the copyright to your contribution,
+this simply gives us permission to use and redistribute your contributions as
+part of the project. Head over to <https://cla.developers.google.com/> to see
+your current agreements on file or to sign a new one.
+
+You generally only need to submit a CLA once, so if you've already submitted one
+(even if it was for a different project), you probably don't need to do it
+again.
+
+## Code reviews
+
+All submissions require review. Please use GitHub pull requests for this
+purpose. Consult
+[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
+information on pull requests.