You should do whatever you want with your hands, but you should be aware that not moving your hands is bad for ergonomics. It promotes static posture and staying in one position for too long can cause muscle stiffness and strain. Moving around promotes blood flow and reduces fatigue. Consistent doing a small set of motions (ie never moving your hands) is what leads to RSI.
Of course, a bad setup is a bad setup, and if you're moving your hands a lot because your workspace is poorly setup, you'll also have issues.
For best results, you'll want to keep your hand movements natural and comfortable and your tools within easy reach. Take short breaks to move your hands, as well as your entire body.
What about effortless manipulation? I have CapsLock as Control and shell manipulation has become easier with readline keybinds. I can touchtype but, the extra keys are always at a different place so I don't bother learning their emplacement. So I rest my hands, but I prefer those keybinds because the already short typing bust is even shorter.
Of course, a bad setup is a bad setup, and if you're moving your hands a lot because your workspace is poorly setup, you'll also have issues.
For best results, you'll want to keep your hand movements natural and comfortable and your tools within easy reach. Take short breaks to move your hands, as well as your entire body.