Russ Tedrake

> That loses the ability to resolve constraints to a finer precision than the slider step I don't think that's viable. For mimic joints yes. But even unit quaternion joints,...

> Here, we're using state for "the last thing my visualizer show to the user". There are two (main) discrete states. One is `slider_value_index`, which "the value of the sliders...

Update: It seems that it's a `Variable` vs `Expression` issue. `X_WA.multiply(p_A+0)` works just fine.

I took a quick look and now have an almost working draft. I will post that draft soon.

I have an initial draft started here: https://github.com/RobotLocomotion/drake/compare/master...RussTedrake:drake:meshcat_capture_image?expand=1 There were a few hang-ups/questions... starting from the most blocking: 1) meshcat currently drops the connection if you request images over e.g....

Thanks @pathammer -- we're doing almost exactly that now (except not the msgpack). We just need a c++ version of the `get_pixels` to (I believe) just strip the header off...

Ok. I've taken one more pass based on @jwnimmer-tri's feedback. My branch now does everything we like *except* it still fails for reasonably sized images. I haven't looked into that...

My understanding is that now that we have "in memory mesh files" support, a new potential solution to this problem is available, at least for the simple case (e.g. the...

I think `brew install gprof2dot` should resolve that? I've slightly shied away from telling everyone to run `manipulation/setup/mac/install_prereqs.sh`, but that would have installed it for you.

+@SeanCurtis-TRI for triage.