This is great work. Python is such a great go-to for so many things.
I also had enough problems with BEEM that I ultimately took the robot I had running offline. I'm glad you're having better luck than I did (I did not have the patience to dive as deep into the weeds with it as you are).
Awesome work. Everyone should learn python.
For the first day or two I couldn't get anything to work, it was seriously frustrating. Then bits started to function and it went from there. I have a background in scripting which helps a lot.