sim.solver_sap.SolverSAP.step#

SolverSAP.step(state_in: SapState, state_out: SapState, control: SapControl | None, contacts: SapContacts | None, dt: float) → SapState[source]#: Advance one SAP timestep from state_in to state_out using control inputs, active contacts, and the configured solver settings.