This paper describes the implementation of a demo that will be shown at the conference site. The demo of "soft-finger 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.