I&#x27;m not sure if we can do good enough physics simulations in real time so that the behavior of manipulator grip on e.g. a bottle cap and the stumbling of the bottle cap against the bottle as you push it around matches reality. Perhaps we can, but not with the common physics engines used in unity3d games and physics demos.<p>In any case, dealing with the actual physical actuators and sensors, their limitations and feedback is the hard part of the problems - if you have a solution that works perfectly in a virtual environment, then IMHO you have achieved something like 10% of the progress needed to do the same in real life.