Grey

Although I guess when you talk about a flexible state class, you're saying that the user can cherry pick what kind of information gets stored in it instead of assuming...

I thought about it some more, and I realized why we would want a more flexible version of the state class. Suppose someone wants to use the machinery provided by...

When you say "save the simulation state", do you mean save it to memory or save it to disk? Because saving to memory should already be very easy, like in...

> What are the skeleton variables that I have to keep in order to produce identical simulations? Right, in theory the set of all `Skeleton::State`s from each Skeleton in your...

> What is exactly saved in State? For better or worse, this is defined implicitly, not explicitly. What I mean by that is we did a redesign of DART a...

Oh, and the way to get the Skeleton state is [`Skeleton::getState()`](https://github.com/dartsim/dart/blob/bab2f04300fc607bd52c396d6735ef0d3448cd5c/dart/dynamics/Skeleton.hpp#L226).

Thanks for writing this example. I've confirmed that your code should be fine, and this is not working the way it's supposed to. I think this is some kind of...

I'm not sure how it got past me in the first place, but the issue should be fixed now in PR #1244 . I think I was overconfident in the...

I think the key thing would be to add something like `std::string serialize() const` and `bool deserialize(const std::string&)` virtual functions to the [`dart::common::Cloneable`](https://github.com/dartsim/dart/blob/e94a7ccec8a9b4d08a9e395c1df5fe7f0640bb2c/dart/common/Cloneable.hpp#L70) class. I don't know if `std::string` is...

> One additional problem with this would be the 3D mesh shapes loading. Or will we save this too? Ah, great point! I forgot that the one big hole currently...