[Orca Hand] Contact thresholds and grasp recovery for builders researchers (advanced)
Orca Hand discussion on contact thresholds, tactile triggers, slip detection, and grasp recovery strategies for difficult manipulation tasks.
Once Orca Hand systems move beyond simple demos, a major question is how to choose contact thresholds that trigger useful recovery behavior without overreacting to noise.
How are you setting tactile or contact thresholds for grasp recovery, slip detection, or failure handling?
Please share what signals you trust, how you avoid false positives, and how recovery actions change between fragile objects and robust objects.
If you reply, include one exact thresholding mistake and one exact tuning or policy change that improved recovery.
This is a strong thread for people who can connect a threshold choice to a visible grasp outcome. That is what others will search for later.
If your policy differs between teleop-assisted and autonomous runs, note that explicitly. The recovery logic often changes with operator context.
Share concrete units or normalized signal ranges if possible. Threshold advice is more useful when it is not purely qualitative.