Allow contact sensor subtree1/subtree2 to be any body.

PiperOrigin-RevId: 799632590 Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 10:59:44 -07:00
parent 9eaa31af2f
commit 7443e685ac
7 changed files with 64 additions and 32 deletions
@@ -1428,22 +1428,6 @@ class SpecsTest(absltest.TestCase):
                refname='cam',
            ),
        ),
-        dict(
-            expected_error='subtree1 must be a child of the world',
-            sensor_params=dict(
-                type=mujoco.mjtSensor.mjSENS_CONTACT,
-                objtype=mujoco.mjtObj.mjOBJ_XBODY,
-                objname='non_root',
-            ),
-        ),
-        dict(
-            expected_error='subtree2 must be a child of the world',
-            sensor_params=dict(
-                type=mujoco.mjtSensor.mjSENS_CONTACT,
-                reftype=mujoco.mjtObj.mjOBJ_XBODY,
-                refname='non_root',
-            ),
-        ),
    ]

    for params in test_cases: