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You will not get to 100%. Humans do not manipulate objects at 100% and your mimicking human movement with different stuff etc. there’s no possibility to go from 20% to 100%.
how often does a typical human solver drop a cube? once in 100 tries? 1000? 10,000? no, human won't be literally 100% but very close, and without an instrumented cube (but with better haptic fingers, to be sure). 20% really doesn't compare.
ha. Yup. Humans hands/arms have far more degrees of freedom than that robot hand. The computers running it dont have nearly enough memory to handle it and the structures of that robot hand lack the material/muscle memory. Spend more money on structure than computation....
Humans bodies coevolved around blocks and other geometric solids. Our bodies have the physics encoded deeply within our muscle, ligament and other physiology. That robot and it’s algos are digital at such a high level.
I’d wager that a human one handed manipulating to solve a Rubik’s cube will drop it at least 20% of the time - using dominant hand. Esp. for hands smaller than the cube. There’s no accounting for even anything close to variability of the lived experience in most this research.
And you plan to solve this problem exactly how? By adding innate symbolic knowledge to the robotic hand? Let's see.
Rule 1: IF finger A is curled 30% THEN curl finger B 20%.
Rule n: IF bleep THEN bloop ...
Repeat 100 million times. Hybrid AI is fun. LOL. 
Symbolics really just means algebraic/geometric. It’s not a matter of if then or probabilistic assessment. Symbolic reasoning is ontological. What actually exists not what might be or what is anologous. A Rubik’s cube always has a definite solution. By definition.
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