def METHOD_NAME(self, T):
    meshcat = Meshcat()
    params = ContactVisualizerParams()
    params.publish_period = 0.123
    params.default_color = Rgba(0.5, 0.5, 0.5)
    params.prefix = "py_visualizer"
    params.delete_on_initialization_event = False
    params.force_threshold = 0.2
    params.newtons_per_meter = 5
    params.radius = 0.1
    self.assertIn("publish_period", repr(params))
    copy.copy(params)
    params2 = ContactVisualizerParams(publish_period=0.4)
    self.assertEqual(params2.publish_period, 0.4)
    vis = ContactVisualizer_[T](meshcat=meshcat, params=params)
    vis.Delete()
    vis.contact_results_input_port()
    vis.query_object_input_port()
    builder = DiagramBuilder_[T]()
    plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.01)
    plant.Finalize()
    ContactVisualizer_[T].AddToBuilder(
        builder=builder, plant=plant, meshcat=meshcat, params=params)
    ContactVisualizer_[T].AddToBuilder(
        builder=builder,
        contact_results_port=plant.get_contact_results_output_port(),
        meshcat=meshcat,
        params=params)
    ContactVisualizer_[T].AddToBuilder(
        builder=builder,
        contact_results_port=plant.get_contact_results_output_port(),
        query_object_port=scene_graph.get_query_output_port(),
        meshcat=meshcat,
        params=params)