Add additional low pass filtering to force sensor.
Find a way to remove static-electricity from gripper.
Use GroundingDino+SAM for Coin Segmentation as well.
If we had access to Compliant Force Control, use force control to determine ground position more accurately.
Grasp coin/bill while maintaining contact with ground (gripper could slide over the surface if applying consistent 5 newtons of force down).
Use force and moment control to perform accurate peg insertion with tighter tolerances.