The one in that video is the G1, which is a bit taller and comes with more sensors, but there's a trick and it is the dexterous hands, which can easily cost 10k each.

Based on my very limited knowledge... if you would have dexterous hands with sensitivity on them you could theoretically train a VLA model to do that task, planned by a high-level model like Argon 4, that orchestrates everything. That would as well require in first place a VLA that has similar tasks in its training set and fine-tune it by means of recording hundreds of examples performing teleoperation of the robot hand and arms movements.

Not easy, but definitely getting more and more doable these days.

PS: Didn't spend 20k on hands for my 6k robot, but can confirm it has the cable harness to support them :D