Building dexterous manipulation, one thing kept frustrating me: no good eval benchmark in sim. Most papers report numbers on a floating hand — pose the fingers, close, check if the object stays. That tells you the model can wrap an object. It doesn't tell you whether the grasp survives a real arm reaching in, gravity turning on, or the object resting on a surface instead of welded to an anchor. So at PathOn Robotics, we built one. A MuJoCo benchmark that sweeps: 🔹 hands — Allegro Barrett today; ShadowHand, DH-3, Inspire next; plus our own in-house design (prototyping) 🔹 objects — YCB, ContactDB 🔹 physics — floating → arm-in-the-loop → object on a pedestal under real gravity Swap any axis with a single config entry. The video: Allegro YCB orange and Barrett ContactDB apple, same Agilex Piper arm, same stack. More coming soon 👇 #Robotics #DexterousManipulation #Grasping #MuJoCo #PathOnRobotics