/span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSim.step" title="Permalink to this definition">¶</a></dt>
<dd><p>Advances the simulation by calling <code class="docutils literal"><span class="pre">mj_step</span></code>.</p>
<p>If <code class="docutils literal"><span class="pre">qpos</span></code> or <code class="docutils literal"><span class="pre">qvel</span></code> have been modified directly, the user is required to call
<a class="reference internal" href="#mujoco_py.MjSimP