Hi! I've been looking for a reliable arm for doing drawbot/paintbot or other artistic applications. I'm impressed with the build quality, transparency of development and interfacibility of the Annin V2. I have a few questions. 1. how much should I budget to have a complete arm? about $1500 for Al hardware, steppers, and hardware, plus about how much more? 2. If I'm using the python AR2 software, how can I read analog input, e.g. from pressure sensors? 3. is it possible to mount the base of the robot on a vertical plane? How much would that change the software configuration?