Is it common to use foot contact force data in robot renforcement learning?

[H-Hisamichi]

Hi everyone,

I'm working on reinforcement learning for a legged robot.
I wented to ues foot contact force data in the observation.
So, I checked the MDP code (observations.py), but I could not find any MDP about foot contanct force.

Is it not common to use contact force data in observations for robot reinforcement learning?

[RandomOakForest]

Thanks you for posting this. It is definitely something that is used, you could check our quadruped environments, for example.

[H-Hisamichi]

Hi @RandomOakForest,

Thank you for your response!
In the current training code, contact sensors are used in the reward, but they don't seem to included in the observation.
Do you have any plans to extend the observation MDP in the future?
For now, I plan to create a custom MDP.