# Description

This MR changed the shape of
`omni.isaac.orbit.sensors.contact_sensor.ContactSensorData.force_matrix_w`
in
[ContactSensor#L215-L217](https://github.com/NVIDIA-Omniverse/orbit/blob/963f3045367be3ccdac4f0902ac2103fcbb6070f/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py#L215-L217)
from `(num_envs, num_bodies, num_shapes, num_filters, 3)` to `(num_envs,
num_bodies, num_filters, 3)`. This makes the returned tensor shape valid
with the data obtained from PhysX.

Fixes #193 

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Videos

I have implemented this in an ORBIT environment and now get the expected
behaviour
Before | After (resets only the robot collides with obstacles) 
--|--
<video
src="https://github.com/NVIDIA-Omniverse/orbit/assets/56405924/96dee42f-d84b-4a52-9480-77e800ab7f23"
width="600" />|<video
src="https://github.com/NVIDIA-Omniverse/orbit/assets/56405924/4112a941-87e2-43fd-a63b-19154cf6040f"
width="600" />

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>