Yeah well, it's definitely not trivial. I just mean that most of the problems we're implementing have been solved decades ago (inverse kinematics, control, comm

Yeah well, it's definitely not trivial. I just mean that most of the problems we're implementing have been solved decades ago (inverse kinematics, control, comms, etc). When you actually need to get all of those functions working in a hard real-time system, of course there are enormous engineering difficulties. In my limited experience, these mostly manifest as extensive testing and formal verification, to the extent to which that is possible. Check out NASA Core Flight System if you're curious, it's an in-house framework and abstracted OS layer meant to support hard real-time flight systems.