Attach a sensor

Use the supplied Tesollo mount

After AppLauncher has initialized Isaac Sim, use the mounted hand variant and the transform in reference.json. The same transform is shared by the exterior geometry and projected taxel poses:

import json
from pathlib import Path

from dex01_sim_asset import TactileSensorCfg, taxel_patterns

reference = json.loads(Path("assets/sensors/dex01/reference.json").read_text())
finger2_sensor = TactileSensorCfg(
    prim_path="{ENV_REGEX_NS}/Robot/rl_dg_2_sensor",
    mesh_prim_path="/World/envs/env_.*/Asset/factory_gear_medium",
    pattern_cfg=taxel_patterns.Dex01PatternCfg(),
    offset=TactileSensorCfg.OffsetCfg(
        pos=tuple(reference["mount_translation_m"]),
        rot=tuple(reference["mount_rotation_wxyz"]),
    ),
)

This is a scene-configuration fragment, not a standalone program. Add it as finger2_sensor on your InteractiveSceneCfg; the hand and counter object must already exist under the paths shown. Spawn dg5f_right.usda with variants={"fingertip": "dex01"}. For the local flat indenter, select mesh_prim_path="/World/envs/env_.*/Asset" instead of the nested gear link.

The complete runnable scene is in the hand demo. Its finger_sensor() helper is the canonical configuration for all five fingers.

Prepare collision geometry

Both sensor body and counter object need contact sensors enabled. The sensor body must use compliant contact; the counter object requires an SDF collision mesh. Use the matching mounting offset and a small timestep. The verification example contains a complete scene with a local sphere; the hand demo shows robot attachment. The released OBJ is the editable exterior source; regenerate its USD with python scripts/build_dex01_asset.py after updating the source hash in reference.json.

Supported counter objects are rigid bodies or articulation links, one per sensor, with positive uniform scale and a fixed mesh-to-body transform shared across environments.

The sensor prim_path must select the fingertip rigid-body link, with a literal leaf name. mesh_prim_path selects the counter object. See configuration fields and numerical settings.