From 9a5acbd662e6e4525bfc9422e93eb5002a6c6a68 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 26 Sep 2025 02:33:49 -0700 Subject: [PATCH] Clarify `subtree` definition and self-collision matching in contact sensor docs. PiperOrigin-RevId: 811731260 Change-Id: Ib890c59f67489de7d482cb239c146a9d565b6027 --- doc/XMLreference.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index de940c4d..58dbc9bd 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -7494,8 +7494,8 @@ Matching bodies, while setting only :ref:`geom1` will match any contacts involving that geom. Setting :ref:`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` and - :ref:`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` and :ref:`subtree2` to the same body will match self-collisions in the subtree. Specifying no matching criterion will match all contacts. Reduction