tutorials: Add example of using meshcat visualizer (RobotLocomotion#1…

…2646)

tutorials/rendering_multibody_plant.ipynb

@@ -18,6 +18,7 @@
     "* Adding a `MultibodyPlant` and `SceneGraph` to a diagram\n",
     "* Adding two separate IIWAs to the `MultibodyPlant`\n",
     "* Adding LCM visualization for Drake Visualizer\n",
+    "* Adding `meshcat` visualization\n",
     "* Adding a camera with a VTK renderer\n",
     "* Rendering color and label images (at zero configuration)\n",
     "* Using `SceneGraphInspector` to query `SceneGraph` geometries\n",
@@ -66,6 +67,7 @@
     "from pydrake.multibody.tree import BodyIndex\n",
     "from pydrake.systems.analysis import Simulator\n",
     "from pydrake.systems.framework import DiagramBuilder\n",
+    "from pydrake.systems.meshcat_visualizer import MeshcatVisualizer\n",
     "from pydrake.systems.sensors import RgbdSensor"
    ]
   },
@@ -236,7 +238,10 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "## Add Drake Visualizer."
+    "## Add Drake Visualizer.\n",
+    "\n",
+    "You will need to have launched the `drake_visualizer` binary\n",
+    "before calling `simulator.Initialize(...)`."
    ]
   },
   {
@@ -248,6 +253,38 @@
     "ConnectDrakeVisualizer(builder, scene_graph)"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Add and show `meshcat` Visualizer.\n",
+    "\n",
+    "This will show a `meshcat` widget inside of this notebook.\n",
+    "\n",
+    "**Note**: This currently does *not* work in a remote workflow (e.g.\n",
+    "Docker without appropriate port forwarding, Binder, Google Colab, etc.).\n",
+    "Please see [#12645](https://github.com/RobotLocomotion/drake/issues/12645)\n",
+    "for more details. If this does appear to work, then it is most likely due\n",
+    "to you running a local instance of the `meshcat` server.\n",
+    "\n",
+    "<!-- TODO(eric.cousineau): Move this to a separate visualization-specific\n",
+    "tutorial. -->"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "meshcat_vis = builder.AddSystem(\n",
+    "    MeshcatVisualizer(scene_graph, zmq_url=\"new\", open_browser=False))\n",
+    "builder.Connect(\n",
+    "    scene_graph.get_pose_bundle_output_port(),\n",
+    "    meshcat_vis.get_input_port(0))\n",
+    "meshcat_vis.vis.jupyter_cell()"
+   ]
+  },
   {
    "cell_type": "markdown",
    "metadata": {},