Documentation: RobotLocomotion/drake@769422a

Author: drake-jenkins-bot

doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html

@@ -8804,14 +8804,14 @@ <h2 class="memtitle"><span class="permalink"><a href="#a90d32a93de07ef91744b95ed
   <table class="params">
     <tr><td class="paramdir">[in]</td><td class="paramname">body</td><td>The body for which geometry is being registered. </td></tr>
     <tr><td class="paramdir">[in]</td><td class="paramname">X_BG</td><td>The fixed pose of the geometry frame G in the body frame B. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">shape</td><td>The <a class="el" href="classdrake_1_1geometry_1_1_shape.html" title="The abstract base class for all shape specifications.">geometry::Shape</a> used for visualization. E.g.: <a class="el" href="classdrake_1_1geometry_1_1_sphere.html" title="Definition of sphere.">geometry::Sphere</a>, <a class="el" href="classdrake_1_1geometry_1_1_cylinder.html" title="Definition of a cylinder.">geometry::Cylinder</a>, etc. </td></tr>
-    <tr><td class="paramdir">[in]</td><td class="paramname">properties</td><td>The proximity properties associated with the collision geometry. They <em>must</em> include the (<code>material</code>, <code>coulomb_friction</code>) property of type CoulombFriction&lt;double&gt;. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">shape</td><td>The <a class="el" href="classdrake_1_1geometry_1_1_shape.html" title="The abstract base class for all shape specifications.">geometry::Shape</a> used for collision and contact. E.g.: <a class="el" href="classdrake_1_1geometry_1_1_sphere.html" title="Definition of sphere.">geometry::Sphere</a>, <a class="el" href="classdrake_1_1geometry_1_1_cylinder.html" title="Definition of a cylinder.">geometry::Cylinder</a>, etc. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">properties</td><td>The proximity properties associated with the collision geometry. </td></tr>
   </table>
   </dd>
 </dl>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if called post-finalize or if the properties are missing the coulomb friction property (or if it is of the wrong type). </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if called post-finalize. </td></tr>
   </table>
   </dd>
 </dl>

pydrake/pydrake.multibody.plant.html

@@ -6848,21 +6848,15 @@
 </dd>
 <dt>Parameter <code class="docutils literal notranslate"><span class="pre">X_BG</span></code>:</dt><dd><p>The fixed pose of the geometry frame G in the body frame B.</p>
 </dd>
-<dt>Parameter <code class="docutils literal notranslate"><span class="pre">shape</span></code>:</dt><dd><p>The geometry::Shape used for visualization. E.g.:
+<dt>Parameter <code class="docutils literal notranslate"><span class="pre">shape</span></code>:</dt><dd><p>The geometry::Shape used for collision and contact. E.g.:
 geometry::Sphere, geometry::Cylinder, etc.</p>
 </dd>
-<dt>Parameter <code class="docutils literal notranslate"><span class="pre">properties</span></code>:</dt><dd><p>The proximity properties associated with the collision geometry.
-They <em>must</em> include the (<code class="docutils literal notranslate"><span class="pre">material</span></code>, <cite>coulomb_friction</cite>)
-property of type CoulombFriction&lt;double&gt;.</p>
+<dt>Parameter <code class="docutils literal notranslate"><span class="pre">properties</span></code>:</dt><dd><p>The proximity properties associated with the collision geometry.</p>
 </dd>
 </dl>
 <dl class="field-list simple">
 <dt class="field-odd">Raises</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>RuntimeError if called post-finalize</strong><strong> or </strong><strong>if the properties are</strong> – </p></li>
-<li><p><strong>missing the coulomb friction property</strong><strong> (or </strong><strong>if it is of the wrong</strong> – </p></li>
-<li><p><strong>type</strong><strong>)</strong><strong></strong> – </p></li>
-</ul>
+<dd class="field-odd"><p><strong>RuntimeError if called post-finalize.</strong> – </p>
 </dd>
 </dl>
 <ol class="arabic simple" start="2">
@@ -12565,21 +12559,15 @@
 </dd>
 <dt>Parameter <code class="docutils literal notranslate"><span class="pre">X_BG</span></code>:</dt><dd><p>The fixed pose of the geometry frame G in the body frame B.</p>
 </dd>
-<dt>Parameter <code class="docutils literal notranslate"><span class="pre">shape</span></code>:</dt><dd><p>The geometry::Shape used for visualization. E.g.:
+<dt>Parameter <code class="docutils literal notranslate"><span class="pre">shape</span></code>:</dt><dd><p>The geometry::Shape used for collision and contact. E.g.:
 geometry::Sphere, geometry::Cylinder, etc.</p>
 </dd>
-<dt>Parameter <code class="docutils literal notranslate"><span class="pre">properties</span></code>:</dt><dd><p>The proximity properties associated with the collision geometry.
-They <em>must</em> include the (<code class="docutils literal notranslate"><span class="pre">material</span></code>, <cite>coulomb_friction</cite>)
-property of type CoulombFriction&lt;double&gt;.</p>
+<dt>Parameter <code class="docutils literal notranslate"><span class="pre">properties</span></code>:</dt><dd><p>The proximity properties associated with the collision geometry.</p>
 </dd>
 </dl>
 <dl class="field-list simple">
 <dt class="field-odd">Raises</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>RuntimeError if called post-finalize</strong><strong> or </strong><strong>if the properties are</strong> – </p></li>
-<li><p><strong>missing the coulomb friction property</strong><strong> (or </strong><strong>if it is of the wrong</strong> – </p></li>
-<li><p><strong>type</strong><strong>)</strong><strong></strong> – </p></li>
-</ul>
+<dd class="field-odd"><p><strong>RuntimeError if called post-finalize.</strong> – </p>
 </dd>
 </dl>
 <ol class="arabic simple" start="2">
@@ -18276,21 +18264,15 @@
 </dd>
 <dt>Parameter <code class="docutils literal notranslate"><span class="pre">X_BG</span></code>:</dt><dd><p>The fixed pose of the geometry frame G in the body frame B.</p>
 </dd>
-<dt>Parameter <code class="docutils literal notranslate"><span class="pre">shape</span></code>:</dt><dd><p>The geometry::Shape used for visualization. E.g.:
+<dt>Parameter <code class="docutils literal notranslate"><span class="pre">shape</span></code>:</dt><dd><p>The geometry::Shape used for collision and contact. E.g.:
 geometry::Sphere, geometry::Cylinder, etc.</p>
 </dd>
-<dt>Parameter <code class="docutils literal notranslate"><span class="pre">properties</span></code>:</dt><dd><p>The proximity properties associated with the collision geometry.
-They <em>must</em> include the (<code class="docutils literal notranslate"><span class="pre">material</span></code>, <cite>coulomb_friction</cite>)
-property of type CoulombFriction&lt;double&gt;.</p>
+<dt>Parameter <code class="docutils literal notranslate"><span class="pre">properties</span></code>:</dt><dd><p>The proximity properties associated with the collision geometry.</p>
 </dd>
 </dl>
 <dl class="field-list simple">
 <dt class="field-odd">Raises</dt>
-<dd class="field-odd"><ul class="simple">
-<li><p><strong>RuntimeError if called post-finalize</strong><strong> or </strong><strong>if the properties are</strong> – </p></li>
-<li><p><strong>missing the coulomb friction property</strong><strong> (or </strong><strong>if it is of the wrong</strong> – </p></li>
-<li><p><strong>type</strong><strong>)</strong><strong></strong> – </p></li>
-</ul>
+<dd class="field-odd"><p><strong>RuntimeError if called post-finalize.</strong> – </p>
 </dd>
 </dl>
 <ol class="arabic simple" start="2">