Congratulations! This looks really great. What've you found to be the best hands / end effectors these days? When do you think we'll have good, reliable 5 finger hands that are ~reasonably priced?
I think at volume the price for a good set of hands should settle somewhere around $300-500. Most of it comes down to meeting suppliers where they're at and negotiating mutually beneficial deals. It's not magic but it does require having a good understanding of the hardware in order to negotiate well.