60 inputs = 7 outputs -> rate = 120/7

I have no clue how I've managed to lower cost this much, but this might be the end for me. Most of the arms are quite busy at this point, and the timings are tight enough that tweaking gets more and more difficult. I am quite happy with where I am though, I'm quite curious just how low this can go. I imagine I'm at least using some of the best methods right?

Also shoutout to my favorite arm, arm 4, which has to do a little dance to avoid 2 different wrong grabs from the hexarms