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add implementation of mjd_transitionFD: transition_fd #976

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add implementation of mjd_transitionFD: transition_fd #976

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@thowell thowell commented Jan 5, 2026 •
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compute derivatives of states/sensors wrt to states/ctrl via finite difference

#761

(potential) future pr todos:

  • instead of allocating memory with each call to transition_fd, enable optional scratch memory
  • current implementation has per-world parallelism, but there should exist refactors for improving parallelism within each world

@thowell thowell linked an issue Jan 5, 2026 that may be closed by this pull request
add mjd_transitionFD implementation #761
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@thowell thowell added the enhancement New feature or request label Jan 6, 2026
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add mjd_transitionFD implementation

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@thowell