Humanoid-universe.com

Still learning the space, so correct me if wrong - In-hand reorientation (repositioning a grasped object without setting it down) is one of the more advanced manipulation skills, requiring either a highly dexterous hand with enough DoF or clever use of gravity and controlled slipping - it's an active research area rather than a solved problem. Reminds me a bit of the early drone hobbyist scene, honestly.

@jhansen Side note that might be relevant: Payload-to-hand-weight ratio varies a lot across current dexterous hands, and it's a meaningful tradeoff - more DoF and finer sensing generally means more actuators and mass in the hand itself, which eats into the arm's usable payload budget. Anyway, good thread - following for more.