Neat stuff, Paul!
Some major gear reduction going on there... my best guess would be that you're simply rotating the robot up 90 degrees (or perhaps less) with your transmission directly driving whatever grabby-type arm you have planned. It takes about 3 seconds to raise a robot to the desired height at max power (with an FP), which fits somewhat closely with the reduction you chose.
Of course, you guys won't be bothered trying to grab the top of the bar... I bet one vertical bar is sufficient.
I'm wondering why you guys are using such a wimpy motor though... don't you have 4 CIMs sitting in your drivetrain that won't be doing anything during the lifting period?