I find that the comparison of the deep happiness that comes from meditation practice with the transitory pleasures of the senses is instructive. However, I am not about to dismiss the value of sensory experience and awareness.
The rich taste of dark chocolate, the soothing warmth of my cup of tea, the hard touch of the desktop next to my keyboard all reignite the deep pleasantness I felt on my pillow this morning. Sensory experiences remind me through the day of how to find the experience of abundant pleasure. The memory is stirred.
None of my senses have as dramatic and effective consequence as touch. Being aware of shared awareness with any entity is a delight that goes beyond any simple sensory contact. Shared touch with any sentient being, especially humans, is an entry into great happiness, pleasure and joy.