Why in the world would having an omnidirectional wheel affect torque? Yes, you'd be more easily pushed from the side if you had a pair of omni wheels, but your forwards movement is uninhibited... our strategy last year was to grab to goals and hold them their very well. We used omniwheels and could rarely be pushed in high gear. If we dropped down our second set of wheels (not omni), we could lift the goal which added more weight to the robot and more strength, thereby stopping us from getting moved. I think the only team that did so was 188 in Canada though we got them back in the finals
