 class="reference internal" href="#mujoco_py.MjSim.step" title="mujoco_py.MjSim.step"><code class="xref py py-meth docutils literal"><span class="pre">step()</span></code></a>, it receives an MjSim object <code class="docutils literal"><span class="pre">sim</span></code> containing the
current user-defined dynamics state in <code class="docutils literal"><span class="pre">sim.udd_state</span></code>, and returns the
next <code class="docutils literal"><span class="pre">udd_state</span></code> after applying