you do but hopefully you're close enough that this actually works then same thing for dynamics next state could in principle depend on everything that came before but the assumption we make is that it only depends on previous state and action taken again the paralytic robotics book makes some kind of different kind of indexing that I'm personally used to but since that's the the best book to go read probably on this if you want to read more I'm sticking with their annotation so they said the action taken UT is the one you