I am looking for a physics simulator which can accurately model a robot hand picking up an object. The main requirement is for accuracy / realism, rather than speed. It needs to be able to model soft bodies, such as the rubber "skin" on robotic finger tips. It also needs to be a dynamics engine, such that the object is actually moved around by the hand, modelling effects such as slippage.
From the research I have already done, there are two good candidates. First, GraspIt! (http://graspit-simulator.github.io/). This is open-source, and specifically designed for grasping, rather than physics simulation in general. Second, MuJoCo (http://www.mujoco.org/). This is a more general simulator, is a commercial product, and has been adopted by some big names such as DeepMind.
I have tried using the Bullet physics engine for robot grasping simulation, but soon realised that this was not going to be strong enough, because Bullet is really designed for games, and hence sacrifices realism for speed. However, I'm much more interested in something which is as realistic as possible, even if the computation is slow.
Does anyone have any suggestions as to how I can proceed? Anybody with any experience with GraspIt! or MuJoCo?