le (IO stream): stream to write model to.
- format: format to use (either ‘xml’ or ‘mjb’)
- keep_inertials (bool): if False, removes all &lt;inertial&gt;</p>
<blockquote>
<div>properties derived automatically for geoms by MuJoco. Note
that this removes ones that were provided by the user
as well.</div></blockquote>
</dd></dl>

<dl class="method">
<dt id="mujoco_py.MjSim.set_state">
<code class="descname">set_state</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="header