As I was making code changes, I decided it was hard to see what was going on with Nybble thrashing around on the floor or threatening to leap off the table. So, Nybble now has training safety harness.
Here a motion sequence at lower battery voltage [460 (begin) to 449 (end)]: kbalance, kwk, kbk, kbalance, d
Here the same motion sequence at high (freshly charged) battery voltage [555 (begin) to 548 (end)]: kbalance, kwk, kbk, kbalance, d
Higher battery does give a faster motion but there is not as much difference as I expected.
BTW, these are more or less "normal" conditions where the gyros are enabled and SKIP is disabled in these tests. The skills are unmodified. Video is at 720p (60 fps).