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Self-contained C++ interface for the MeshCat visualizer

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Hi, I got to the point that I needed to create Capsules for my simulation, and I was wondering what parts in the code should I change to support creating...

~~~ cmake: error while loading shared libraries: librhash.so.0: cannot open shared object file: No such file or directory Error: Process completed with exit code 127. ~~~ Probably a regression of...

I would really like to use this class but it is missing line segments and pointclouds to make it complete. What might it take to add those?