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@afritz those fingertips exceed our maximum dimensions specified in the manual. The object detection will be less reliable due to the deformation of those fingertips, in order to have a reliable detection they would need to be perfectly rigid. Gripper force will be affected too, and Gripper maintenance requirement will be increased.

You could indeed use the FT sensor to detect the weight of the object, it would be fairly easy. You read the Mx or My signal and use the length of that setup as a lever to estimate what mass is present or not. This is commonly used for quality inspection applications, it works.