In-hand manipulation means moving or turning an object in the hand. For example, when you pick up a hammer, you have to shift it to the proper grasp before using it. Most studies of in-hand manipulation work by wiggling the fingers for small motions, or walking the fingers along the object surface for larger motions. But there have been several studies in the past of other approaches. An object can be rolled in the hand, just using dynamics and gravity. Or an object's pose can be adjusted by pressing it against an external contact.