Hmm, I guess that that's not a factor, then. Bolting the caps to the actuators was the bigger trick anyway. Compared to cages or grippers, dramatically reduced

Hmm, I guess that that's not a factor, then. Bolting the caps to the actuators was the bigger trick anyway. Compared to cages or grippers, dramatically reduced inertia and much stiffer, so less damping required and it's easier to dump energy back into the actuators. I'm half-tempted to call that "cheating", but I don't know what the actual rules are - I doubt that this robot can "put down" or "pick up" the cube in less than a minute or two. The older version had the cube actually soldered in.