he current state is saved as
a keyframe in the model file. This is useful for debugging
using MuJoCo’s <cite>simulate</cite> utility.</p>
<p>Note that this doesn’t save the UDD-state which is
part of MjSimState, since that’s not supported natively
by MuJoCo. If you want to save the model together with
the UDD-state, you should use the <cite>get_xml</cite> or <cite>get_mjb</cite>
methods on <cite>MjModel</cite> together with <cite>MjSim.get_state</cite> and
save them with e.g. pickle.</p>
<p>Args:
- fi