A bit more of a hardware question: how modular are the robots? I'm looking at the feet and hands in particular and thinking that there are a bunch of applications where purpose-build parts would work much better than the current ones you have there. I understand the arguments for a humanoid form-factor, but I think flat feet are making it much harder than it should be to get a robust locomotion policy, and training hand-dexterity is also unbelievably hard. Seems like the path of least resistance to usefulness is to have an array of different hand attachments.