I work on embedded frequently; I have way more than $20K of equipment on my desk right now. Not to mention old projects in boxes and on shelves. That's absolutely not an issue. If I need it and need exclusive access to it, in the office or on my desk is all the same.
And measuring output? Why, by performance of course. And by the value of the work done. So I can earn well on embedded work whenever that comes my way, because its not a common skill and I can do it quickly. The market sets the value; there's no mystery to this.
Also, your comment, "Why, by performance of course." What does that even mean?
Would love to hear more detail about how you would measure productivity and output of a programmer. Because there are millions of managers around the world who have yet to figure it out.
For 20k? That's very concerning.