[londons_explore]

He doesn't need to know the anchor positions accurately - this was extra work he didn't need to do because he has feedback on the hoop position (via the cameras), so even very rough measurements will be fine.

The 'cable slack takeup' devices are also unnecessary because that can be done in software - you can put a virtual spring in the motor control feedback loop to make it act as springy or rigid as you like.

I can imagine the need for both came about from previous (unseen) design iterations that had low frame rate visual feedback and motors without feedback at all.