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Re: what motor did you use(arm)
The 1st joint of our arm was powered by two 256:1 FPs, one on each side, plus a 5:1 sprocket reduction. Strong enough to lift the robot (and it tried quite a few times because of PID errors). The 2nd joint locked up, glitched, and was otherwise a pain to maintain. I think it ran off a BB at 64:1, but we also experimented with several sprocket configurations for additional torque so I don't remember what the final reduction was.
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2005 Sacramento Winners with 245 and 766
2005 SVR Semi-Finalists with 840 and 668
2005 SVR Judges Award
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