Avoid use of deprecated API (#23625)

sherm1 · web-flow · commit 60337bebabe8 · 2025-10-20T14:14:18.000-07:00
diff --git a/tutorials/hydroelastic_contact_basics.ipynb b/tutorials/hydroelastic_contact_basics.ipynb
@@ -507,7 +507,7 @@
     "    # W = the world's frame\n",
     "    # C = frame at the center of the compliant box\n",
     "    X_WC = RigidTransform(p=[0, 0, 1])\n",
-    "    plant.SetDefaultFreeBodyPose(plant.GetBodyByName(\"compliant_box\"), X_WC)\n",
+    "    plant.SetDefaultFloatingBaseBodyPose(plant.GetBodyByName(\"compliant_box\"), X_WC)\n",
     "\n",
     "    return builder, plant"
    ]

Original file line number	Diff line number	Diff line change
`@@ -507,7 +507,7 @@`
`507`	`507`	`" # W = the world's frame\n",`
`508`	`508`	`" # C = frame at the center of the compliant box\n",`
`509`	`509`	`" X_WC = RigidTransform(p=[0, 0, 1])\n",`
`510`		`- " plant.SetDefaultFreeBodyPose(plant.GetBodyByName(\"compliant_box\"), X_WC)\n",`
	`510`	`+ " plant.SetDefaultFloatingBaseBodyPose(plant.GetBodyByName(\"compliant_box\"), X_WC)\n",`
`511`	`511`	`"\n",`
`512`	`512`	`" return builder, plant"`
`513`	`513`	`]`