I'd love to learn a little more; I'm unlikely to move family from Michigan to Massachusetts but I'm professionally curious. What's your stack like? Are you bui

I'd love to learn a little more; I'm unlikely to move family from Michigan to Massachusetts but I'm professionally curious. What's your stack like? Are you building your own motion control gear to run on off-the-shelf manipulators, running ROS, RoboDK, or similar on commercial arms, or something in the middle? I've got lots of experience with "off-the-shelf" robotic arms like Fanucs, Densos, and Epsons, as well as experience with embedded and general-purpose programming languages like C, Lua, C#, and Python. Achieving reasonable fault tolerance and flexibility is hard enough in controlled environments of the automation cells I've built, but I estimate that fully automated trailer load/unload would be almost completely intractable without access to a general-purpose programming language. The disparities between the two fields have lead to lots of frustration with the hamstrung vendor development environments that either make it impossible to type text at all, or restrict you to idiosyncratic Basic-but-not that's been chained to a slow-moving manufacturer since the 80s. It almost makes me want to throw out the vendor's kinematics and IO to just hook the servos directly to an EtherCAT bus, or to throw out the robot controller replace it with a generic CNC controller. Have you finally done that? Programming robots in Python as you describe would be blissful in comparison to some of the vendor tooling I've used! The arm in your videos looks a little like the Tormach ZA6 arm that I've been following; is that the OEM you are using?