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Of Mice And Musk: A SpaceX Odyssey
Elon Musk has dreamed of a human colony on Mars since he was a young man. Today, his SpaceX company is taking the first steps toward achieving that dream.
As Ashlee Vance tells it, one wall of Elon Musk’s office at SpaceX headquarters in Hawthorne, California, contains two posters of Mars. On the left is Mars as it exists today – a frozen, lifeless orb. On the right is Musk’s vision of Mars as it could be — a happy place inhabited by humans who frolic on verdant continents surrounded by oceans.
“I would like to die thinking that humanity has a bright future,” he tells Vance while eating cookies and cream with sprinkles on top. “If we can solve sustainable energy and be well on our way to becoming a multi-planetary species with a self-sustaining civilization on another planet—to cope with a worst-case scenario happening and extinguishing human consciousness— then I think that would be really good.” No one has ever accused Elon Musk of thinking too small.
At the turn of the 21st century, Musk had two Martian fantasies. One was to send a colony of mice to the Red Planet and bring them back again, along with their interplanetary babies. The other involved building a greenhouse on Mars and letting Earthlings see the plants inside grow over the internet. Each venture required at least one if not two rocket ships.
He and a coterie of friends traveled twice to Moscow, once in 2001 and again in 2002, trying to purchase surplus Russian rockets that could be refurbished for the Martian missions. The first time did not go well. Recalls Jim Cantrell, one of the team that traveled to Moscow with Musk, “One of their chief designers spit on me and Elon because he thought we were full of shit.” On the second excursion, Musk became convinced the Russians he was meeting with were only interested in fleecing a gullible American with too much money and too few brains.
SpaceX CEO Elon Musk inside the Dragon V2 [Source: SpaceX]
On the way home from the second failed mission, Musk astonished his team by announcing, “Hey, guys, I think we can build this rocket ourselves.” In June 2002, Space Exploration Technologies, popularly known as SpaceX, was formed to build a cheaper rocket that could carry small payloads into space for paying clients on an average of once a month. The only problem? It had no rocket.
Such trifles were never matters to hold Elon Musk back. He assembled a team of committed rocket engineers and set about accomplishing, with millions, what NASA spent billions doing. Musk’s principle talent, apart from concocting outrageously impossible dreams, is finding people to work for him who are ready, willing and eager to give up all semblance of a normal life in exchange for insane working hours in remote locations. One test launching area was set up in the middle of Texas and another on far away Kwajalein Island, the largest island in an atoll between Guam and Hawaii that is part of the Marshall Islands.
“I would like to die thinking that humanity has a bright future”
SpaceX CEO, Elon Musk
Musk is not a man without a sense of humor. He dubbed his new rocket Falcon 1, paying homage to the Millennium Falcon of Star Wars fame. On its first flight on March 24, 2006, it crashed back to Earth after only 25 seconds. SpaceX employees dutifully donned scuba gear to retrieve some of the pieces from the ocean and set about rebuilding for another attempt.
Musk responded by hiring more engineers and starting work on a brand new rocket, the Falcon 9, that featured one large central rocket surrounded by 8 smaller rockets. Despite the failure of Falcon 1, Musk was already busy positioning the company to bid on NASA contracts to resupply the International Space Station.
On September 1, 2008, Falcon 1 flew its first successful mission. SpaceX was a viable commercial company at last but one that was rapidly going broke. At the end of 2008, Musk knew he would have to choose between SpaceX and Tesla. Alone, one of them might survive. Together? The odds were, both would fail. Musk worried that Tesla would be bought out by one of the Big Three automakers and become just a small part of a giant company.
Later in 2008, Tesla was within hours of defaulting on its payroll obligations. If that happened, Musk’s personal fortune would be gone, along with Tesla and SpaceX. He asked for help from venture capital group VantagePoint but was rebuffed. That’s when Musk put all his chips on red and let them ride.
Source: SpaceX
With all of his dreams and aspirations on the line, Musk executed a colossal bluff. He told investors he would put in $40,000,000 of his own fortune to keep the business going — $40,000,000 he didn’t have. Based on his assurances, other investors agreed to put up $20,000,000 more in financing and the crisis passed. A few weeks later, NASA awarded SpaceX a $1.6 billion contract to do twleve ISS re-supply missions.
Antonio Gracias, a Tesla and SpaceX investor and one of Musk’s closest friends, watched all of this at close hand. He says 2008 told him everything he would ever need to know about Musk’s character. “He has the ability to work harder and endure more stress than anyone I’ve ever met,” Gracias says. “What he went through in 2008 would have broken anyone else. Most people who are under that sort of pressure fray. Their decisions go bad. Elon gets hyperrational. He’s still able to make very clear, long-term decisions. The harder it gets, the better he gets.”
Today, SpaceX launches an average of one rocket a month, carrying payloads for many companies and several nations. Its prices undercut those of Boeing, Lockheed Martin, and Orbital Science by a wide margin. Many of its competitors rely on Russian and other foreign suppliers but SpaceX makes its machines from scratch in the U.S.
Its clientele includes Canadian, European, and Asian customers and it has more than 50 flights planned over the coming years worth more than $5 billion. The company remains privately owned, with Musk as the largest shareholder. SpaceX is profitable and is estimated to be worth $12 billion.
Falcon 9 discovery launch from Feb. 2014 at Cape Canaveral, FL [Image credit: SpaceX]
The Falcon 9 has gone from a fantasy to SpaceX’s workhorse. Painted pure white with only an American flag and the SpaceX logo adorning its sides, there’s nothing particularly flashy looking about the Falcon 9. It’s just an elegant, purposeful machine. And to think that for a period of weeks just a few years ago, it’s ability to lead mankind into the dawn of commercial space travel almost died before it was ever born, thanks to a bluff so bold and so daring, it would leave most of us breathless.
Jimmy Buffett once sang, “Read dozens of books about heroes and crooks, and I learned much from both of their styles.” Which one is Elon Musk? Read Ashlee Vance’s book and make up your own mind.
Source: Bloomberg
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Tesla’s last chance version of the flagship Model X is officially gone
The Signature Edition was no ordinary Model X Plaid. Offered exclusively by invitation to select existing Tesla owners, it represented the final production batch of the current-generation Model X before manufacturing at Fremont ends.
Tesla enabled a last-chance version of its two flagship vehicles, the Model S and Model X, over the past few weeks. The Model X, the company’s original SUV, is officially gone.
Tesla has officially closed the book on its most exclusive send-off for the Model X. The limited-run Model X Signature Edition—priced at $159,420 before fees and limited to just 100 units—is now sold out, with reservations closed as of April 16.
The $160,000 Model X Signature Edition is officially sold out.
Reservations are now closed. pic.twitter.com/4D5FSkTZTa
— Sawyer Merritt (@SawyerMerritt) April 16, 2026
The Signature Edition was no ordinary Model X Plaid. Offered exclusively by invitation to select existing Tesla owners, it represented the final production batch of the current-generation Model X before manufacturing at Fremont ends.
Every unit featured an exclusive Garnet Red exterior paint, unique badging, and a standard six-seat configuration. With full Plaid powertrain specs—Tri-Motor All-Wheel Drive, over 1,000 horsepower, and blistering acceleration—it was positioned as a collector’s item for loyalists who wanted one last shot at owning a piece of Tesla history.
The timing is no coincidence.
Tesla announced earlier this year that it would discontinue regular production of both the Model S and Model X to repurpose the Fremont factory’s dedicated lines for mass production of its Optimus humanoid robots.
Elon Musk has repeatedly emphasized that Optimus could ultimately become more valuable to the company than its vehicle business, with ambitions to build hundreds of thousands of units annually.
The Signature Editions served as a final “runout” series: 250 for the Model S and only 100 for the Model X, all built to the highest Plaid specification before the line is converted.
Deliveries of the remaining Signature units are scheduled to begin in May 2026. For buyers who secured one, it’s the ultimate swan song for a vehicle that helped define Tesla’s early luxury EV dominance.
Launched in 2015, the Model X introduced falcon-wing doors, a panoramic windshield, and class-leading performance that turned heads and set benchmarks. While newer models like the Cybertruck and refreshed Model Y have taken center stage, the Model X Plaid remained a halo product for those seeking maximum range, space, and speed in an SUV package.
With inventory of standard Model X units already nearly exhausted across the U.S., the rapid sell-out of the Signature Edition underscores enduring demand for Tesla’s premium flagships even as the company pivots toward robotics and autonomy.
For enthusiasts, these 100 garnet-red SUVs will likely become instant collector’s items—tangible reminders of the vehicles that built the brand before Tesla’s next chapter fully begins. The last chance is gone, but the legacy endures.
Elon Musk
Tesla Optimus V3 hand and arm details revealed in new patents
Two new patents, which were coincidentally filed on the same day as the “We, Robot” event back in October 2024, protect Tesla’s mechanically actuated, tendon-driven architecture.
Tesla is planning to soon reveal its latest and greatest version of the Optimus humanoid robot, and a series of new patents for the hands and arms, with the former being, admittedly, one of the most challenging parts of developing the project.
Two new patents, which were coincidentally filed on the same day as the “We, Robot” event back in October 2024, protect Tesla’s mechanically actuated, tendon-driven architecture.
The designs relocate heavy actuators to the forearm, route cables through a sophisticated wrist design, and employ innovative joint assemblies to achieve human-like dexterity while enabling lightweight construction and high-volume manufacturing.
Core Tendon-Driven Hand Architecture
The primary patent, which is titled “Mechanically Actuated Robotic Hand,” details a cable/tendon-driven system.
Actuators are positioned in the forearm rather than the hand. Each finger features four degrees of freedom (DoF), while the wrist adds two more.
Tesla’s Optimus V3 robot hand looks to have been revealed in a new international patent published today.
The patent describes a tendon/cable-driven hand:
• Actuators in the forearm
• Each finger has 4 degrees of freedom
• The wrist has 2 degrees of freedom
• Tendon-driven… pic.twitter.com/eE8xLEYSrx— Sawyer Merritt (@SawyerMerritt) April 16, 2026
Three thin, flexible control cables (tendons) per finger extend from the forearm actuators, pass through the wrist, and connect to the finger segments. Integrated channels within the finger phalanges guide these cables selectively—routing behind some joints and forward of others—to enable independent bending without unintended motion.
Patent diagrams illustrate thick cable bundles emerging from the wrist into the palm and fingers, with labeled pivots and routing guides. This setup closely mirrors human forearm-muscle and tendon anatomy, where most hand control originates proximally.
Advanced Wrist Routing Innovation
One of the standout features is the wrist’s cable transition mechanism. Cables shift from a lateral stack on the forearm side to a vertical stack on the hand side through a specialized transition zone.
Boom! @Tesla_Optimus 의 3세대 구조로 추정되는, 로봇 팔 및 관절에 대한 특허가 공개되었습니다.
아티클 작업에 들어가겠습니다.
1년 넘게 기다려 온, 정말 귀한 특허인데, 조회수 100만대로 터져줬으면 좋겠네요. 😉@herbertong @SawyerMerritt@GoingBallistic5 @TheHumanoidHub pic.twitter.com/CCEiIlMFSX
— SETI Park (@seti_park) April 16, 2026
This geometry significantly reduces cable stretch, torque, friction, and crosstalk during combined yaw and pitch wrist movements — common failure points in simpler tendon systems that cause imprecise or jerky motion.
By minimizing these issues, the design supports smoother, more reliable multi-axis wrist operation, essential for complex real-world tasks.
Companion Patents on Appendage and Joint Design
Two supporting patents provide additional depth. “Robotic Appendage” covers the overall forearm-to-palm-to-finger assembly, with a palm body movably coupled to the forearm and finger phalanges linked by tensile cables returning to forearm actuators. Tensioning these cables repositions the phalanges precisely.
“Joint Assembly for Robotic Appendage” describes curved contact surfaces on mating structures paired with a composite flexible member. This allows smooth pivoting while maintaining consistent tension, enhancing durability, and simplifying assembly for mass production.
Executive Insights on Hand Development Challenges
Tesla executives have consistently described the hand as the most difficult component of Optimus.
Elon Musk has called it “the majority of the engineering difficulty of the entire robot,” emphasizing that human hands possess roughly 27–28 DoF with an intricate tendon network powered largely by forearm muscles. He has likened the challenge to something “harder than Cybertruck or Model X… somewhere between Model X and Starship.”
In mid-2025, Musk acknowledged that Tesla was “struggling” to finalize the hand and forearm design. By early 2026, he stated that the company had overcome the “hardest” problems, including human-level manual dexterity, real-world AI integration, and volume production scalability.
He estimated the electromechanical hand represents about 60 percent of the overall Optimus challenge, compounded by the lack of an existing supply chain for such precision components.
These patents directly tackle the acknowledged pain points: relocating actuators reduces hand mass and inertia for better speed and efficiency; advanced wrist routing and joint geometry address friction and crosstalk; and simplified, stackable parts visible in the diagrams indicate readiness for high-volume manufacturing.
Implications for Optimus Production and Leadership
Collectively, the patents portray the Optimus v3 hand not as a mere prototype, but as a production-oriented system engineered from first principles.
The 22-DoF architecture, forearm-driven tendons, and crosstalk-minimizing wrist deliver a clear competitive edge in dexterity. They align with Musk’s view that high-volume manufacturing is one of the three critical elements missing from most other humanoid projects.
For Optimus to become the most capable humanoid robot, its hand needed to replicate the useful and applicable design of the human counterpart.
These filings demonstrate that Tesla has transformed years of engineering challenges into patented, elegant solutions — positioning the company strongly in the race toward general-purpose robotics.
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Tesla intertwines FSD with in-house Insurance for attractive incentive
Every mile logged under FSD now carries a documented financial value—lower risk, lower cost—based on Tesla’s internal driving data rather than external crash statistics alone.
Tesla intertwined its Full Self-Driving (Supervised) suite with its in-house Insurance initiative in an effort to offer an attractive incentive to drivers.
Tesla announced that its new Safety Score 3.0 will automatically have a perfect score of 100 with every mile driven with Full Self-Driving (Supervised) enabled.
The change is designed to boost customers’ average safety scores and deliver noticeably lower monthly premiums.
The move marks the clearest link yet between Tesla’s autonomous driving technology and its proprietary insurance product. Tesla Insurance already relies on real-time vehicle data—such as acceleration, braking, following distance, and speed—to calculate a Safety Score between 0 and 100. Higher scores have long translated into cheaper rates.
Under the previous system, however, even brief manual interventions could drag down the average, frustrating owners who rely heavily on FSD. Version 3.0 eliminates that penalty for supervised autonomous miles, effectively treating FSD-driven segments as the safest possible driving behavior.
The incentive is immediate and financial. Drivers who keep FSD engaged for the majority of their trips will see their overall score rise, potentially shaving hundreds of dollars off annual premiums.
Tesla framed the update as a direct response to customer feedback, many of whom had complained that the old scoring model punished the very behavior it was meant to encourage.
For now, the program applies only to new policies in six states: Indiana, Tennessee, Texas, Arizona, Virginia, and Illinois.
Existing policyholders are not yet included, a point that drew swift questions from the Tesla community. Many owners in other states, including California and Georgia, expressed hope that the benefit would expand nationwide soon.
The announcement arrives as Tesla continues to roll out FSD Supervised updates and push for regulatory approval of more advanced autonomy. By tying insurance savings directly to FSD usage, the company is putting its own actuarial weight behind the technology’s safety claims.
Every mile logged under FSD now carries a documented financial value—lower risk, lower cost—based on Tesla’s internal driving data rather than external crash statistics alone.
Tesla has not disclosed exact premium reductions or the full rollout timeline beyond the six launch states.
Still, the message is clear: the more drivers trust FSD Supervised, the more Tesla Insurance will reward them. In an era when legacy insurers remain cautious about autonomous tech, Tesla is betting that its own data will prove the safest miles are the ones driven hands-free.
Tesla’s last chance version of the flagship Model X is officially gone
Tesla Optimus V3 hand and arm details revealed in new patents
