From 276fd0fb7ffd17d3c4c18b98246ef542e3f2dab8 Mon Sep 17 00:00:00 2001
From: Jeremy Nimmer <jeremy.nimmer@tri.global>
Date: Tue, 16 Apr 2024 11:11:20 -0700
Subject: [PATCH] [workspace] Upgrade meshcat to latest commit

---
 geometry/test/meshcat_manual_test.cc   | 9 ++++++++-
 tools/workspace/meshcat/repository.bzl | 4 ++--
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/geometry/test/meshcat_manual_test.cc b/geometry/test/meshcat_manual_test.cc
index f9883e75511b..f705256fddd7 100644
--- a/geometry/test/meshcat_manual_test.cc
+++ b/geometry/test/meshcat_manual_test.cc
@@ -450,6 +450,11 @@ Ignore those for now; we'll need to circle back and fix them later.
     const double table_height = 0.7645;
     plant.WeldFrames(plant.world_frame(), plant.GetFrameByName("link"),
                      RigidTransformd(Vector3d{0, 0, -table_height - 0.01}));
+    parser.AddModelsFromUrl(
+        "package://drake_models/ycb/006_mustard_bottle.sdf");
+    plant.WeldFrames(plant.world_frame(),
+                     plant.GetFrameByName("base_link_mustard"),
+                     RigidTransformd(Vector3d{0, -0.3, 0.01}));
     plant.Finalize();
 
     builder.ExportInput(plant.get_actuation_input_port(), "actuation_input");
@@ -469,7 +474,8 @@ Ignore those for now; we'll need to circle back and fix them later.
 
     diagram->ForcedPublish(*context);
     std::cout
-        << "- Now you should see a kuka model (from MultibodyPlant/SceneGraph)"
+        << "- Now you should see a kuka model (from MultibodyPlant/SceneGraph) "
+           "and a mustard bottle lying on its side, with the label facing up."
         << std::endl;
 
     MaybePauseForUser();
@@ -508,6 +514,7 @@ Ignore those for now; we'll need to circle back and fix them later.
          "- the camera is focused on the contact point between the robot and "
          "table,\n"
          "- the iiwa is visible,\n"
+         "- the mustard bottle visible including its texture (front label),\n"
          "- the animation plays,\n"
          "- the environment map is present, and\n"
          "- the browser Console has no warnings nor errors\n"
diff --git a/tools/workspace/meshcat/repository.bzl b/tools/workspace/meshcat/repository.bzl
index 17bc9b47e60e..c08e2866481b 100644
--- a/tools/workspace/meshcat/repository.bzl
+++ b/tools/workspace/meshcat/repository.bzl
@@ -10,8 +10,8 @@ def meshcat_repository(
         Updating this commit requires local testing; see
         drake/tools/workspace/meshcat/README.md for details.
         """,
-        commit = "e87530b45282872a07dd164351aa4dfef40d9f5b",
-        sha256 = "d15ba8fa1dca154266bd44265e38bce9fd34db4e5ac9a1dcced639d1c78eef9f",  # noqa
+        commit = "601b55df0839430297ae53503ea2c61e4cdf1314",
+        sha256 = "c1b006483773ad435acba17def30d3359eb39bf7c859fcfbcfd8baca006def37",  # noqa
         build_file = ":package.BUILD.bazel",
         mirrors = mirrors,
     )