RobotLocomotion/drake

Is your feature request related to a problem? Please describe. When an error message incorporates a TypeSafeIndex<Tag> (e.g., BodyIndex) or Identifier<Tag> (e.g., GeometryId), right now the default fmt::format output for that value is just the underlying bare integer. The type (e.g., "body" or "geometry") might not always be clear from context, so sometimes the error message text needs to laboriously incorporate the type. drake/multibody/tree/element_collection.cc Lines 151 to 153 in 63201f5 throw std::logic_error(fmt::format( "The given {}Index({}) is out of bounds (must be less than {})", nice_type, index, next_index())); Describe the solution you'd like Enhance TypeSafeIndex<Tag> and Identifier<Tag> to offer a repr formatter, so that the format string could be something like fmt::

What happened? Running the documented jupyter notebook procedure of bazel run //tools/jupyter:example gives a hard-to-understand failure on ubuntu + firefox because Ubuntu now installs firefox as a snap, snaps cannot access the global /tmp (they have per-container fake /tmp mounts), and jupyter by default indirects its browser dispatch through a file:///tmp/....html link. AFAICT the procedure to avoid this (short of "find a firefox deb, don't ever use snap") appears to be to pass the magic command line string --ServerApp.use_redirect_file=False to the jupyter binary so that it uses a localhost URL instead. However we don't invoke jupyter via its binary entry point but rather via a python function call to jupyter_core.command.main, so it seems like there is not an easy way to pass that command line string. I am aware that this is almost certainly a low priority issue, I'm just scribing it here because it's the third or so time I've run into it and I wanted to have it written down in on