Inquiry on Evaluating Optimality of Solutions in MuJoCo MPC

I am reaching out with a question regarding the evaluation of the optimality of solutions computed by the MuJoCo MPC framework. Specifically, I am interested in understanding the following:
- Are there built-in tools or diagnostics in the framework to assess the quality or optimality of the solutions relative to the problem formulation?
- What methodologies or metrics do you recommend for evaluating how close the solutions are to optimal, especially when computational constraints may affect accuracy?
- Are there established practices or benchmarks for validating the performance and robustness of the MPC solutions in dynamic or contact-rich environments?

I would greatly appreciate any insights, references, or guidance you can provide on these aspects. Thank you for your time and for developing such a valuable tool for the robotics and control community.

Looking forward to your response.