Structure constants for simple Lie algebras from principal $\mathfrak{sl}_2$-triple

For a simple complex Lie algebra $\mathfrak{g}$, fixing a principal $\mathfrak{sl}_2$-triple and highest weight vectors induces a basis of $\mathfrak{g}$ as vector space. For $\mathfrak{sl}_n$, we describe how to compute the Lie bracket in this basis using transvectants. This generalizes a well-known rule for $\mathfrak{sl}_2$ using Poisson brackets and degree 2 monomials in two variables. Our proof method uses a graphical calculus for classical invariant theory. Other Lie algebra types are discussed.