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A 6-axis arm is also a more interesting design and a better learning experience overall for the designers. It will run smoother with controls, and will also be more adaptable to future competitions. Right now, tasks are simple enough to where we can probably use only a 5-axis arm, however if we want to branch out to new competitions or URC adds new arm related tasks, a 6-axis design would be way more adaptable and suitable to be able to perform any new required movements. Majority of top URC arms are currently 6 axis as well.
TL/DR; fully free end effector manipulation is neato
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