Your first simulation

Complete installation and activate its Python environment. Run from the repository root. On a local desktop with a compatible R580 driver, launch the hand demo:

python scripts/dex01_on_tesollo_dg5f.py

Wait for Setup complete.... A gear contacts fingers 2–5 in turn. The viewport shows the hand, per-finger normal loads in newtons, and 32 × 32 tactile frames. Stop with Ctrl+C. The first launch can download extensions and compile shaders.

For remote viewing use the remote viewing setup. Learn how to interpret the frames in the hand example, or check a reproducible load with the validation guide.

First result without a display

MPLBACKEND=Agg python scripts/dex01_on_tesollo_dg5f.py \
  --headless \
  --flat-indenter \
  --max-steps 240

This uses a local 0.1 kg cube and prints physical normal forces. It exits after 240 steps, with finger 2 near 0.981 N and the other fingers at zero. Headless physics does not display a viewport; for live visual access from a remote host, follow the remote viewing setup.