[Cogito]

There were three aspects to fixing the landing, to my understanding.

Legs keep it oriented, give a stable platform, and cushion the initial landing.

Top thruster pushes it into the surface, damping any bounce back from the impact.

Harpoons attach to the surface, affixing it permanently.

The top thruster was reported to not work at all, and the harpoons were unable to work by themselves. It's not clear if they would have worked if the top thruster was working as well.