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.
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.
All submissions require review. Please use GitHub pull requests for this purpose. Consult GitHub Help for more information on pull requests.