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Find an Issue that seems interesting for you. If you don't find an issue contact the Maintainer or write in Discussion/Issues.
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Fork the repository.
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Create a branch in your cloned fork repo and do the required changes for the issue. You could also upload other improvements that can help the project.
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When you feel your code is finished, push your changes to Github and do a PR to the main branch of the original repository. If you are working on an on-going issue, please state its tag in the PR description for reference.
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Once the PR is reviewed by a Maintainer and everything looks good, the PR will be approved.