You are right on the money. We never really solved that problem for cold ice. The fumarolic ice caves we tested in were close to 0C, so it wasn't a problem. But

You are right on the money. We never really solved that problem for cold ice. The fumarolic ice caves we tested in were close to 0C, so it wasn't a problem. But we did a test campaign in a -25C walk-in freezer, and had to use a hot air gun to clear the end effector manually every step. If we got funded to do another version I think we would try to incorporate some kind of heater.