@duck Thanks for sharing all these details in this thread.
I have been following your YouTube channel for a bit now. I had some questions in the comments of one of your videos, you had promptly replied to me and was a great help. Your Niryo robot videos are what prompted me to buy and build one myself.
Wish I seen this thread before I went ahead and created one on my forums. I was unaware until today that these forums existed. I am looking forward to seeing more of your videos and posts.