In this paper, we evaluate the prediction performance of two nonsmooth rigid-body dynamics simulators on realworld data with spatial impacts in the context of robotic tossing and visual tracking. We perform a parameter identification procedure to find the coefficient of friction and restitution of different objects via a velocity-based and trajectory-based cost function. Our results show that these two identification criteria lead to different parameter values, and these criteria should be chosen in consideration of the application at hand. We compare the simulated predicted rest-pose with measurement data and perform a sensitivity analysis to assess how uncertainty on the identified parameters affects the rest-pose prediction of the object. For the robotic tossing application at hand, we show that the rest-pose prediction is insensitive to the coefficient of restitution, and accurate predictions are obtained via simulations using only ballistic motion and friction.