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Allow contact sensor subtree1/subtree2 to be any body.

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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
This commit is contained in:
Yuval Tassa
2025-08-26 10:59:44 -07:00
committed by Copybara-Service
parent 9eaa31af2f
commit 7443e685ac
7 changed files with 64 additions and 32 deletions
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doc/XMLreference.rst
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@@ -7502,9 +7502,7 @@ Extraction
.. _sensor-contact-subtree2:
:at:`subtree1`, :at:`subtree2`: :at-val:`string, optional`
Name of a body whose subtree is participating in a contact. See **matching** :ref:`above <sensor-contact>`. Note
currently only "entire" subtrees are supported, in the sense that the specified body must be a direct child of the
world. General subtrees could be added in the future.
Name of a body whose subtree is participating in a contact. See **matching** :ref:`above <sensor-contact>`.
.. _sensor-contact-site: