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Fixes tensor shape in the docstring, for contact sensor's force matrix
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abmoRobotics committed Jan 22, 2024
1 parent bc2565c commit dd6a9bd
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Expand Up @@ -49,8 +49,8 @@ class ContactSensorData:
force_matrix_w: torch.Tensor | None = None
"""The contact forces filtered between the sensor bodies and filtered bodies in world frame.
Shape is (N, B, S, M, 3), where N is the number of sensors, B is number of bodies in each sensor,
``S`` is number of shapes per body and ``M`` is the number of filtered bodies.
Shape is (N, B, M, 3), where N is the number of sensors, B is number of bodies in each sensor
and ``M`` is the number of filtered bodies.
Note:
If the :attr:`ContactSensorCfg.filter_prim_paths_expr` is empty, then this quantity is None.
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