Meet the Sentient Bionic Hand 2.0: a five-digit servo-electric gripper that enables robots to grasp a wide variety of objects. It is ready for pick & place tasks, machine tending, lab work, and other tasks. It has 2 degrees of freedom and 10 joints. It is ROS compatible and can be controlled via Dynamixel SDK.
The thumb rotation can be controlled through software. The above video shows this robotic gripper in action. You can find out more about it here.