From 883e69d7b12e75b9adfadef2925df578354735ad Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 29 Jan 2026 09:20:28 -0800
Subject: [PATCH] Minor improvements to collision sensor documentation.

PiperOrigin-RevId: 862767431
Change-Id: I53861430e7868b23e37be9694f195a2dd3685db4
---
 doc/XMLreference.rst | 12 ++++++------
 doc/modeling.rst     |  3 ++-
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 315e7ec6..3b1481ee 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -7431,6 +7431,12 @@ smallest signed distance between the surfaces of two geoms using the narrow-phas
 computation is always performed, independently of the standard collision :ref:`selection and filtering<coSelection>`
 pipeline. These 3 sensors share some common properties:
 
+.. admonition:: different (correct) behavior under `nativeccd`
+   :class: note
+
+   As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
+   :ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
+
 .. _collision-sensors-cutoff:
 
 :at:`cutoff`
@@ -7440,12 +7446,6 @@ pipeline. These 3 sensors share some common properties:
    to geom-geom penetration) will be reported by :ref:`sensor/distance<sensor-distance>`.
    In order to determine collision properties of non-penetrating geom pairs, a positive :at:`cutoff` is required.
 
-   .. admonition:: different (correct) behavior under `nativeccd`
-      :class: note
-
-      As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
-      :ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
-
 :at:`geom1`, :at:`geom2`, :at:`body1`, :at:`body2`
    For all 3 collision sensor types, the two colliding geoms can be specified explicitly using the :at:`geom1` and
    :at:`geom2` attributes or implicitly, using :at:`body1`, :at:`body2`. In the latter case the sensor will iterate over
diff --git a/doc/modeling.rst b/doc/modeling.rst
index 61d79c13..ab480e91 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -1090,7 +1090,8 @@ Here we describe the XML attributes common to all sensor types, so as to avoid r
    deviation information for later use.
 :at:`cutoff`: :at-val:`real, "0"`
    When this value is positive, it limits the absolute value of the sensor output. It is also used to normalize the
-   sensor output in the sensor data plots in :ref:`simulate.cc <saSimulate>`.
+   sensor data plots in :ref:`simulate.cc <saSimulate>`. Note that :at:`cutoff` has a different meaning for
+   :ref:`collision sensors<collision-sensors>`.
 :at:`user`: :at-val:`real(nuser_sensor), "0 0 ..."`
    See :ref:`User parameters <CUser>`.