How to use mjd_transitionFD in python binding

[yzd0014]

My questions has two parts, first when mjd_transitionFD is called, I don't need to call mj_step anymore, is this right?

Second, when mjd_transitionFD is used, I got an error, I don't know how to fix this error.

[yuvaltassa]

when mjd_transitionFD is called, I don't need to call mj_step anymore, is this right?

No. mjd_transitionFD does not step the state.

Regarding your error, I think it is pretty clear. Please read the function documentation and play with the LQR colab which uses this function for clarification.

Finally Please use issues rather than discussions. If you have more questions, open an issue.

[yzd0014]

Thanks for your reply. But I'm still very confused about what caused the error. The documentation says the dim for B matrix is 2*nv+na x nu, this is exactly what I did.

[yuvaltassa]

You are using an old version of MuJoCo, before this commit and there is a mismatch between the documentation and the code.

If you read the error it clearly says that it is expecting centered but you are passing flg_centered.

[yzd0014]

Thank you very much!