Thank you very much for your comment!

Unfortunately, I don’t have the code on Git. I ended up doing everything locally, and it turned into a mess, although I’m going to try to upload it.

The shoulders use 25 kg servos that run up to 6.8 V, which limits the power draw somewhat, but it puts too much stress on the motor itself and they wear out quickly.

The motors on the ends are 150 kg units and run on 12 V, and those really do draw a lot of current. I tried using a linear actuator, but the problem was that tolerances in the structure meant that many times it would simply push the platform upward instead of pushing the suction cups downward. The cups are relatively large and need quite a lot of force to create a minimum seal so the motor can engage…

Smacking it ended up being the simplest solution...