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WARNING: On macOS, drake-visualizer is deprecated and will be removed from Drake on or after 2022-04-ˊ ˇ ˋ

I see a warning about drake-visualizer on macOS will be deprecated. Could you tell me the new visualizer method? If possible, could you kindly provide a simple execution sample? Thanks!

Solution

  • I see a warning about drake-visualizer on macOS will be deprecated.

    Yes, issue #16215 explains the background.

    Could you tell me the new visualizer method?

    Call the function pydrake.geometry.MeshcatVisualizerCpp.AddToBuilder to add it to your diagram. When you start your program, it will print a URL to the console where you can open a web browser to view it.

    If possible, could you kindly provide a simple execution sample?

    You can run drake/tutorials/rendering_multibody_plant.ipynb locally to see a demo.