[DampRobot]

To me, it seems like mounting the CIMs sideways would be more trouble than it's worth. Although it certainly is a beautiful gearbox and cool design, I've never really been concerned with CIMs taking up too much room in the center of the robot.

Also, if I remember correctly, worm gears are fairly inefficient, even with four tooth worms. Do you know how efficient the gearbox is compared to, say, a toughbox?