Add sugar to create LCM-driven standalone simulations, for wiring together state publishers and input receivers.
Adds a number of python bindings, and fixes bugs in some existing bindings
Adds a Trifinger example, in Python, of separate-process simulation and controller
Small modification to LcmDrivenLoop to require two input messages. I'm not sure why the first published message from the simulator was always the default initial state, so please reject this change if it's problematic.
This PR has a few changes in it
LcmDrivenLoopto require two input messages. I'm not sure why the first published message from the simulator was always the default initial state, so please reject this change if it's problematic.As written, eneds https://github.com/RobotLocomotion/drake/pull/16762
This change is