Will we be perfect in Heaven?

I think most (if not all) Christians would agree that [there will be no sin in heaven](http://www.biblegateway.com/passage/?search=rev%2021:27&version=KJV) . However, we often make mistakes that aren't sinful: accidentally spilling a glass of milk isn't a sin. We don't know everything, we aren't all virtuosos, nor are we all Olympic athletes, but ignorance and a lack of skill and athleticism aren't sins either. So: will we be perfect in Heaven, mentally and physically?