fix bug where articulation get net contact forces was oriented wrong …

…despite having right shape
haosulab · Mar 5, 2024 · 17cd5a2 · 17cd5a2
1 parent cefbf7a
commit 17cd5a2
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/mani_skill2/utils/structs/articulation.py b/mani_skill2/utils/structs/articulation.py
@@ -275,7 +275,10 @@ def get_net_contact_forces(self, link_names: Union[List[str], Tuple[str]]):
             query = self._net_contact_force_queries[tuple(link_names)]
             self.px.gpu_query_contact_body_impulses(query)
             return (
-                query.cuda_impulses.torch().clone().reshape(-1, len(link_names), 3)
+                query.cuda_impulses.torch()
+                .clone()
+                .reshape(len(link_names), -1, 3)
+                .transpose(1, 0)
                 / self._scene.timestep
             )
         else: