Cool video! What made you stop if I can ask?

And yeah I feel you re humanoid. I worked on the Rubik's cube project at OpenAI, which used a humanoid hand, and it was insanely painful and hard. Also fun anecdote: it was completely impossible to teleop the shadow hand. We had a data glove to capture hand movements but as soon as contact / haptics come in, you're lost. We could never even get a single rotation on the Rubik's cube via teleop.

I do think simpler hardware like the one described in my post works really though and it's so much easier to do something with it.