def euler_step(theta,dtheta,ddtheta,dt):
    """
    Euler Step

    Parameters
    ----------
    theta (tf.Tensor):
        Joint angles
        (N,nq)
    dtheta (tf.Tensor):
        Joint velocities
        (N,nq)
    ddtheta (tf.Tensor):
        Joint accelerations
        (N,nq)
    dt (float):
        Delta t

    Returns
    -------
    (thetalistNext, dthetalistNext) (tupe of tf.Tensor):
        Next joint angles and velocities
        (N,nq), (N,nq)
    """
    return theta + dt * dtheta, dtheta + dt * ddtheta