Fix tactile sensor port auto-detection

orca_core/hardware_hand.py

@@ -1339,19 +1339,29 @@ def _connect_sensor_with_fallback(self) -> tuple[bool, str]:
         self._tactile_client = self._create_tactile_client()
         try:
             self._tactile_client.connect()
-            return True, f"Sensor connected on {self.config.sensor_port}"
+            if self._tactile_client.get_tactile_configuration() is not None:
+                return True, f"Sensor connected on {self.config.sensor_port}"
+            print(f"Port {self.config.sensor_port} opened but sensor did not respond; "
+                  "trying auto-detection.")
+            self._tactile_client.disconnect()
+            self._tactile_client = None
         except Exception as e:
             print(f"Sensor connection failed on {self.config.sensor_port}: {e}")
             self._tactile_client = None
 
         chosen = auto_detect_port("tactile_sensor")
-        if chosen and chosen != self.config.sensor_port:
+        if chosen:
             try:
                 self.config = dataclasses.replace(self.config, sensor_port=chosen)
                 self._tactile_client = self._create_tactile_client()
                 self._tactile_client.connect()
-                self._persist_sensor_port(chosen)
-                return True, f"Sensor connected on auto-detected {chosen}"
+                if self._tactile_client.get_tactile_configuration() is None:
+                    print(f"Auto-detected port {chosen} opened but sensor did not respond.")
+                    self._tactile_client.disconnect()
+                    self._tactile_client = None
+                else:
+                    self._persist_sensor_port(chosen)
+                    return True, f"Sensor connected on auto-detected {chosen}"
             except Exception as e:
                 print(f"Auto-detected sensor port {chosen} also failed: {e}")
                 self._tactile_client = None

scripts/example_tactile.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+"""Minimal example: connect to an OrcaHandTouch and stream resultant forces.
+
+Usage:
+    uv run python scripts/example_tactile.py
+    uv run python scripts/example_tactile.py path/to/config.yaml
+"""
+
+import sys
+import time
+from pathlib import Path
+
+from orca_core import OrcaHandTouch
+
+DEFAULT_CONFIG = (
+    Path(__file__).resolve().parents[1]
+    / "orca_core" / "models" / "v2" / "orcahand_touch_right" / "config.yaml"
+)
+
+
+def main():
+    config_path = sys.argv[1] if len(sys.argv) > 1 else str(DEFAULT_CONFIG)
+    hand = OrcaHandTouch(config_path=config_path)
+
+    ok, msg = hand.connect_sensors_only()
+    print(msg)
+    if not ok:
+        sys.exit(1)
+
+    try:
+        hand.start_tactile_stream(resultant=True, taxels=False, min_sensors=1)
+        time.sleep(0.1)
+
+        print("Streaming resultant forces — press Ctrl+C to stop.\n")
+        while True:
+            forces = hand.get_tactile_forces()
+            if forces is None:
+                time.sleep(0.01)
+                continue
+            parts = [f"{f}: [{v[0]:6.2f} {v[1]:6.2f} {v[2]:6.2f}]"
+                     for f, v in forces.forces.items()]
+            print("  |  ".join(parts), end="\r")
+            time.sleep(0.02)
+    except KeyboardInterrupt:
+        print()
+    finally:
+        hand.disconnect()
+
+
+if __name__ == "__main__":
+    main()