Sensors need to read the ground’s real feel, not just the map. Rough bark or loose gravel gives less traction, so keep the gear in that range. Check how the sensor stack reacts when the wheel lifts, that tells you the weight distribution. If the terrain rises sharply, a lower stance helps. Keep the sensor alignment tight—small misalignments mean the mech thinks it’s on a flat surface when it’s not. In short, test on the real surface, tweak the damping, and don’t over‑engineer the readings.