Taylor Howell

@yuvaltassa do you think a plugin would make sense for this type of application?

[DROP: Dexterous Reorientation via Online Replanning](https://caltech-amber.github.io/drop/)

is there an issue with the build for macos too or only for ubuntu 20.04? is there an issue with the build using the vscode instructions: https://github.com/google-deepmind/mujoco_mpc?tab=readme-ov-file#build-and-run-mjpc-gui-application-using-vscode?

Please see [build.yml](https://github.com/google-deepmind/mujoco_mpc/blob/main/.github/workflows/build.yml) for the configurations that are tested for MJPC. Currently, Ubuntu 20.04 is tested. If the build fails, try deleting the `mujoco_mpc/build` directory and rebuilding. Based on the...

@yuvaltassa any ideas for getting this task working?

@youwyu it is possible that the [version of MuJoCo that MJPC is pinned to](https://github.com/google-deepmind/mujoco_mpc/blob/ff572a21e7c2bf9fda62e1862a758da7e9a8719b/CMakeLists.txt#L58) does not support all of the specified flex features in flex/bunny.xml.

@RX-00 The overall approach seems correct. For step 3, I think it makes sense to add a virtual getter function (eg `GetQFunctionDerivatives`) to `Planner` for the Q function derivative terms....

@LIRUIGOOD please provide a repro for the reported issue and your system setup. thanks!

Will you please provide additional detail for what 'almost doesn't work' means in this context? Thanks! An important different between the two demos is that `cartpole_gui.py` is calling the C++...

A helpful debugging practice for this scenario is to utilize slowdown in the GUI application: press `-`. https://github.com/google-deepmind/mujoco_mpc/blob/main/docs/GUI.md#user-guide If the task works with slowdown, this would indicated that the hardware...