[Orca Hand] Simulation profile looks fine but real grasps overclose for builders researchers (intermediate)
Orca Hand discussion on sim-to-real profile mismatch, overclosing grasps in hardware, and validation checks before trusting real-world deployment.
A sim-to-real Orca Hand problem appears when the profile or policy looks fine in simulation, yet the real hand closes too aggressively, crushes objects, or reaches contact far earlier than expected.
How are you diagnosing Orca Hand cases where the simulation profile looks fine but real grasps overclose?
Please share how you compare simulated assumptions to real contact behavior, which signs point to range, friction, or timing mismatch, and what minimum real-world validation you require before trusting the profile outside simulation.
If you reply, include one exact overclose symptom and one exact sim-to-real check that exposed the mismatch.
The best replies explain whether the mismatch first showed up in closure speed, contact timing, or object damage.
If one sim-to-real benchmark or guarded grasp test exposed the issue quickly, share it. Searchers often need that first reality check.
It also helps to say how you changed the validation flow before later deploying new profiles.