That physics engine may actually be very useful in real world applications. Imagine that the robot hand first emulates its move, notices that the objects will fall and then compensates the hand to prevent the object to fall. 

Lots of stuff to think about it, I am just started on this graphical controller. Thanks for the feedback, I will notice all the information so it can be used in the comming future. Thanks!

Don't take my advice seriously, I just have a wild and random idea generator :-) 

But now that you have physics simulation, maybe measuring inertia and weight of the object   that the robot just grabbed could also be taken into account. Or maybe even inertia and weight of its own robot arm could also be used in a physics simulation before converting to real commands.

If I were just a machine controller then I would use some math (PID) to compensate for the initial intended sped and the measured real speed. But using this physics engine you may actually be light years ahead to get to higher precision. 

When I look how I pick up objects and move, the very moment I pick it with my hand I already sense the weight and inertia to make my hand and fingers behave.

The only thing I have no real sense of the Thor robot yet is how precise the robot will function when I have the plastic in my hand. December will become my assembling part.