I would say probably not. The kind of things Mage Hand is described as being able to do is more similar to "object interaction" (like the free one you have on your turn), which falls short of the Use an Object action.
That said, a DM might rule that MH Legerdemain makes it possible, though it is not one of the listed additional things it can do.
RAW, I read it as no, as I believe list of things you can do is all you can do, since it says “the following additional tasks” and not something like, these are examples, but you can do other things, too. That said, as a DM I’d probably allow it. You can pick a lock, which usually requires two hands and much more fine motor control, so rubbing poison on something seems pretty straightforward compared to that.
Honestly, even if it's not allowed per RAW I'd allow you to apply poison to your weapon with it. First of all, it costs your BA which is pretty valuable for a melee Rogue since they need it to disengage again and probably even more importantly ... poison is weak af. The effects it carries aren't encounter breaking, many enemies are resistant or even immune to it and even if you had the poisoners feat so you can ignore poison resistance (it'd also allow you to apply it with a BA legally btw) it still wouldn't help with those enemies usually also having a rule that gives them advantage on saving throws to avoid getting poisoned. So, chances are it only really matters in tier 1, maybe half of tier 2 play too, anyway ... and it's definitely not going to be stronger than the default Moon Druid so who cares.
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I've never encountered a forum where I got this many "talking to a wall" impressions as this one...
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Mage Hand allows for using the hand to "manipulate an object".
That sounds an awful lot like "use an object" which is an action from combat.
I would say probably not. The kind of things Mage Hand is described as being able to do is more similar to "object interaction" (like the free one you have on your turn), which falls short of the Use an Object action.
That said, a DM might rule that MH Legerdemain makes it possible, though it is not one of the listed additional things it can do.
RAW, I read it as no, as I believe list of things you can do is all you can do, since it says “the following additional tasks” and not something like, these are examples, but you can do other things, too. That said, as a DM I’d probably allow it. You can pick a lock, which usually requires two hands and much more fine motor control, so rubbing poison on something seems pretty straightforward compared to that.
With Mage Hand Legerdemain, when it is invisible, is the item that it is carrying also invisible?
No.
Honestly, even if it's not allowed per RAW I'd allow you to apply poison to your weapon with it. First of all, it costs your BA which is pretty valuable for a melee Rogue since they need it to disengage again and probably even more importantly ... poison is weak af. The effects it carries aren't encounter breaking, many enemies are resistant or even immune to it and even if you had the poisoners feat so you can ignore poison resistance (it'd also allow you to apply it with a BA legally btw) it still wouldn't help with those enemies usually also having a rule that gives them advantage on saving throws to avoid getting poisoned. So, chances are it only really matters in tier 1, maybe half of tier 2 play too, anyway ... and it's definitely not going to be stronger than the default Moon Druid so who cares.
I've never encountered a forum where I got this many "talking to a wall" impressions as this one...