fixes

README.md

@@ -110,7 +110,7 @@ We provide a simple Python API for MJPC. This API is still experimental and expe
 - [direct.py](python/mujoco_mpc/direct.py) for available methods for direct optimization.
 
 ## Installing via Pip
-The MJPC Python module can be installed with:
+First, build MJPC (see above), then MJPC Python module can be installed with:
 ```sh
 python "${MUJOCO_MPC_ROOT}/python/${API}.py" install
 ```

python/mujoco_mpc/agent_test.py

@@ -109,7 +109,7 @@ def test_step_env_with_planner(self):
   def test_env_initialized_to_home_keyframe(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/quadruped/task_flat.xml"
+        / "build/mjpc/tasks/quadruped/task_flat.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
 

python/setup.py

@@ -149,7 +149,7 @@ def finalize_options(self):
     self.set_undefined_options("build_ext", ("build_lib", "build_lib"))
 
   def run(self):
-    mjpc_tasks_path = Path(__file__).parent.parent / "mjpc" / "tasks"
+    mjpc_tasks_path = Path(__file__).parent.parent / "build" / "mjpc" / "tasks"
     source_paths = (
       tuple(mjpc_tasks_path.rglob("*.xml"))
       + tuple(mjpc_tasks_path.rglob("*.png"))