Alessio Quaglino

The thing is, visual meshes need to be loaded and compiled for computing inertias. How are you proposing to avoid this?

Hi, we have `mj_saveXML` (and `mj_saveXMLString`) for saving a spec. Could you please try that one? Discardvisual should modify the spec, although I've never tried this use case.

It's all string based, so performance is probably not optimal. I don't have a sense though about the impact. What do you think about @nimrod-gileadi suggestion of recreating the plugin...

It's required as long as we support Python 3.9. From Python 3.10 we can use `typing` (as we do internally).

Is this an issue only for flex? By the way, you can add assets using an asset dict https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/specs_test.py#L777

So, flex are supported by MJX but not with the Jax backend, they will be simulated with the Warp backend when we release it. I think this is why you...

I would say this is more of a feature request than a bug. With the current design, you can't set defaults, create a geom, change the defaults, and expect that...

Can you please try to simplify the model and get to a minimum example that produces the issue?

Hi, we have cables in mujoco, although they are not supported by MJX. I guess what you are asking is that we should port the cable to MJX? The FEM...

This looks to be a VFS issue, not an mjSpec one. It's reproducible also by loading from XML directly if assets are given with VFS.