This paper describes the implementation of a demo that will be shown at the conference site. The demo of “softfinger grasping of physically based quasi-rigid objects” will provide solutions to grasp objects that are locally deformable and move according to rigid-body dynamics. This work summarizes the choices of the overall software architecture and the single algorithms used to run the simulation of “soft-finger grasping ” in real time on high-end hardware. The soft-finger grasping is obtained extending a local model to include rotational friction while the local deformations are achieved through displacement fields directly on the GPU. Dynamics of the objects in the scene is simulated by a rigid body simulator which allows realistic interactions with other objects existing in the scene. cost of computation involved in collision detection and resolution allows to simulate at haptic rates no more than few basic primitives (cubes and spheres). Each one of these points has been addressed separately in the past, especially for deformable models which continues to be one of the main interesting research topics. The objective of this work is to show that current techniques can be integrated to achieve a high level of visuo-haptic realism at real time rates on high end personal computers. 2 The Soft Finger Grasping Simulator To implement the proposed “Soft Grasping Simulator” three main techniques have been exploited and integrated: soft-finger grasping of rigid objects, local deformations for quasi-rigid objects and rigid body dynamics simulation.