hey kas,
thanks for that i'll see if i can get a buzzer, but i should be able to run the code soon then.
here's a video of the cube, as you can see the gripper on the left is lose and the one on the right seems fine, these are what my limits are set to, i thought it might be because of the my limits being the oposite to yours (close is higher than open, yours is the opposite)
DOWN_CLOSE 76
DOWN_OPEN 35
BACK_CLOSE 79
BACK_OPEN 35