Yeah -- what I'm most curious about is how it determines its initial state. Does it need to be powered up and "zeroed" like a scale before it's scrambled? How d

Yeah -- what I'm most curious about is how it determines its initial state. Does it need to be powered up and "zeroed" like a scale before it's scrambled? How does the algorithm know which actuator needs to be moved and which direction it needs to be moved in?