Lego® Color Ball Sorter - Parallel SCARA Inspired

I was curious to see, how accurate I could get a robot of the Parallel SCARA (Selective Compliance Assembly/Articulated Robot Arm) type to work in Mindstorms, so I made this color ball sorter, which sorts 4 different colored balls into in 32 positions (and another 4 positions when the first gets filled).
It went quite well, and the biggest struggle was actually when going from programming in Word Blocks to Python - primarily because Python in the available version does not support multithreading, even though Word Blocks supports the function "Do This ... And This".
Managed to program around it, but I might have to change to Pybricks soon :)