The idea that manipulation is improved by flexible architectures is entirely correct; no one can deny it when seeing Festo's articulated arms. We must recognize that modern vision systems, like those sorting parts on an automotive assembly line, are also increasingly integrating sensors to better understand the environment. These systems can now distinguish, for example, a 10 mm nut from a 12 mm nut even if they are slightly rusty, which was unthinkable a few years ago.