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SpaceX adds new ship to fleet after fairing catcher Ms. Tree nails second recovery in a row
In a telltale sign that SpaceX is growing much more confident in its ability to consistently recover Falcon 9 fairings, the company has accepted delivery of second recovery ship almost identical to GO Ms. Tree (formerly Mr. Steven) just days after nailing its second fairing catch in a row.
Previously known as M/V Captain Elliott, the new ship appears to have been acquired (or leased) by Guice Offshore (GO) from SEACOR Marine, who purchased Elliott from struggling marine services company Seatran Marine in 2017. One way or another, SpaceX now has a pair of Port Canaveral-based fairing recovery ships in hand – named Ms. Tree and Ms. Chief – and is thus making excellent progress towards catching and reusing both halves of the same Falcon 9 (or Heavy) fairing.
Splurging on ‘ships
Put simply, whoever is paying for or has paid for the two fast supply vessels (FSVs) that are now a part of SpaceX’s rocket recovery fleet has/had a tidy sum to spend. For ships as large, new, and high-performance as Ms. Tree and Ms. Chief, both completed in the mid-2010s, SpaceX or GO would be lucky to pay less than $10M apiece and each ship could easily cost more than $20M, depending on a variety of unknowns. Previous owner Seatran Marine is/was admittedly in dire financial straits, so that could have resulted in an effective fire-sale discount.
Regardless, this is to say that SpaceX was likely willing to splurge and open its wallet wide for extremely high-quality fairing recovery vessels because of just how expensive those fairings are. According to CEO Elon Musk circa 2017, it costs SpaceX $5-6M total to produce a set of Falcon fairing halves, equivalent to roughly 10% of the cost of a Falcon 9 launch ($50M-60M).
As an example, assume that SpaceX paid a full $50M for Ms. Tree and Ms. Chief – effectively a worst-case cost scenario. Assume that recovering and reusing net-caught Falcon fairings still costs half as much as building new fairings ($3M for two halves), also likely a worst-case scenario given the relative mechanical and propulsive simplicity of fairings.
In this mediocre-at-best scenario, it would still take SpaceX less than 20 launches with both halves recovered to completely recoup the cost of both fairing recovery ships. In the event that reusing caught fairings is only 25% as expensive as building new fairings, SpaceX could recoup its fleet investments in just 10 launches. In fact, cost reduction may even be a secondary consideration next to the potential for effectively doubling fairing production with the same facilities. From that perspective, spending, say, $50M on development and another $50M on cutting-edge recovery vessels could easily be a bargain, especially compared to the $1B+ SpaceX has spent deloping Falcon 9 booster reusability.
Fairing-catcher Mk4
With GO Ms. Chief’s August 10th arrival at Port Canaveral, SpaceX’s team of Florida-based recovery engineers and technicians will now be tasked with modifying the ship for Falcon fairing catching. SpaceX completed its first fairing recovery-focused modifications back in late 2017, likely producing what was the first version of fairing recovery tech (Mk1). The net proved to be far too small and was replaced in summer 2018 with a net and arms likely 4X larger (Mk2).
Roughly half a year and several missed catches after Mr. Steven’s Mk2 net was installed, the ship transited the Panama Canal and arrived at Port Canaveral in February 2019. Barely a week or two later, Mr. Steven suffered a failure at sea – well before a planned catch attempt – that saw the ship limp back to port missing the entirety of its net and two of four arms.
After another four months in port, SpaceX installed a third net and arms system on Mr. Steven, featuring distinct differences and apparent upgrades that likely make it Mk3. Shortly after installation and a quick renaming from Mr. Steven to GO Ms. Tree, Ms. Tree’s inaugural Mk3 recovery attempt culminated in SpaceX’s first and second successful fairing catches – back-to-back – on June 24th and August 6th.
Finally, this brings us to the blank slate that is GO Ms. Chief. Compared to Ms. Tree, both vessels are nearly identical: both are built by Gulf Craft, LLC, both are 205 ft x 34 ft (62m x 10m), both have decks rated for ~405 metric tons (900,000 lb), and have top speeds of 26-32 knots (30-37 mph, 50-60 km/h; fully-loaded vs. empty). The lone point of difference is power: Ms. Chief’s engines produce 500 more horsepower and its generators produce an additional 120 kW of power, respective improvements of 5% and 16% relative to Ms. Tree (Mr. Steven).
Despite both ships being nearly identical, SpaceX is unlikely to simply copy and paste Ms. Tree’s thus far successful arms and net, likely instead doing what the company is famous for and fabricating a new and improved variant of the fairing recovery mechanism. This would presumably translate to Mk4. Conveniently, SpaceX appears to be heading into a rare period of no launches, likely stretching almost three months from August 6th (AMOS-17) to late October.
If Mr. Steven and Ms. Tree’s transformations are anything to go by, that hefty chunk of time that should be more than sufficient to fully outfit Ms. Chief with a fresh fairing recovery mechanism, assuming SpaceX has been simultaneously fabricating the hardware in anticipation of Ms. Chief’s arrival.
For now, we’ll have to wait and see if SpaceX’s next launches – both believed to be 60-satellite Starlink missions – will mark the recovery debut of Ms. Chief, as well as the first attempted catch of both Falcon fairing halves. Additionally, following SpaceX’s second successful fairing half catch on August 6th, it’s possible that the company has two recovered halves capable of making a full, flight-proven fairing. Either way, a Starlink launch will likely support the flight-debut of a reused fairing and will almost certainly host the first attempted simultaneous recovery of both fairing halves.
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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
