Hi all, I am looking for what are the most popular/ useful math libraries that would be compatible with MuJoCo, as for example, I want to perform block operation on matrices; I am considering using EIGEN. Also, for solving optimization, I am using NLOPT for now, but I also would like to hear about any recommendataions. I am particularly interested in what Emo and his colleagues have been using, but any recommendation/comments from others are mostly welcome! Thanks