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Clarify subtree definition and self-collision matching in contact sensor docs.

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PiperOrigin-RevId: 811731260
Change-Id: Ib890c59f67489de7d482cb239c146a9d565b6027
This commit is contained in:
Yuval Tassa
2025-09-26 02:33:49 -07:00
committed by Copybara-Service
parent e51459f949
commit 9a5acbd662
1 changed files with 2 additions and 2 deletions
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doc/XMLreference.rst
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@@ -7494,8 +7494,8 @@ Matching
bodies, while setting only :ref:`geom1<sensor-contact-geom1>` will match any contacts involving that geom. Setting
:ref:`site<sensor-contact-site>` will match contacts that are inside the volume defined by the site; this matching
criterion can be used with {geom2, body2, subtree2}. The subtree attributes take a body name and match all contacts
involving the subtree where that body is located. Setting :ref:`subtree1<sensor-contact-subtree1>` and
:ref:`subtree2<sensor-contact-subtree2>` to the same body or to two bodies in the same subtree will match
involving the body's subtree i.e., the body and all of its descendants. Setting
:ref:`subtree1<sensor-contact-subtree1>` and :ref:`subtree2<sensor-contact-subtree2>` to the same body will match
self-collisions in the subtree. Specifying no matching criterion will match all contacts.
Reduction