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Merge pull request #1138 from GiulioRomualdi/meshcat_delete_elements #3921

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Job	Run time
[apt:ubuntu:20.04@Release]	14m 56s
[conda:ubuntu-20.04]	5m 41s
[conda:macos-latest]	10m 31s
[apt:ubuntu:22.04@Release]	12m 43s
[conda:windows-2019]	10m 31s
	54m 22s