Explore the examples

Choose the scene that matches what you want to learn. Each page includes a short video, expected behavior, the command to run it, and how to interpret its tactile output.

Start with a flat padSee a contact footprint form as a falling gear settles. Explore all five fingertipsFollow sequential contacts and compare loaded and unloaded fingers. Watch articulated pressingConnect joint movement with contact, force, and release.

Example	Main idea	Expected output
Flat pad	Grid sensing and a gravity load	32 × 32 frame; gear load near 4.905 N
Tesollo hand	Firmware-mapped fingertip contact	Loaded finger’s frame active; other frames zero
Stationary press	Articulation creates contact	Fixed wrist/object; finger motion; hold and release

The videos use actual captured Isaac Sim 5.1 poses and tactile arrays, rendered separately with native RTX cameras. Slow playback is labeled in the clip. The force frames preserve their exact pixel mapping and share one scale within each clip; grey indicates unused cells. Hand videos include a second native camera view of the contact so the small gear remains legible while the overview shows all five fingertips.