Computing FO Gradients in Mujoco Menagerie Environments

[krishpop]

Thanks for the team for all the hard work into making gradients accessible in Mujoco + Brax ! I wanted to ask if there are any other examples besides this one which show gradients being computed in the anymal environment for imitation learning with APG. Are there any examples with other menagerie environments available, such as using contacts in manipulation environments (with Franka, Shadow hand, etc)?