All of that sounds great. I can attest that exercising at home is a great way to do it. I got a book about body-weight exercises called You Are Your Own Gym. Between a chinup bar and an interval timer, I think I have invested about $50 in exercise equipment, and I exercise at home. No travel, any time I feel like it, and completely free. I can even do it in hotel rooms if I am traveling. As you mention, there are also advantages over using the machines, like having a more natural range of motion.