From dd6a9bdb18c636eedefc15fd834eda64e3a676c9 Mon Sep 17 00:00:00 2001 From: abmoRobotics Date: Mon, 22 Jan 2024 10:42:08 +0100 Subject: [PATCH] Fixes tensor shape in the docstring, for contact sensor's force matrix --- .../isaac/orbit/sensors/contact_sensor/contact_sensor_data.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_data.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_data.py index 39a7ed836a..d4fd7cbe93 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_data.py +++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_data.py @@ -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.