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.
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.