After some testing with Dynamixel Wizard, I discovered an issue with the claw mount servo. Mounted in the way it was, the arm would not be able to rotate all the way to the front of the robot. To fix this, Riley removed the arm, rotated the servo 90 degrees forward and then reattached it, meaning the servo now has a full range of movement.
Riley and Matthew changed over the 3D printer filament to black, then began printing the gear arms with 100% infill (completely solid plastic) one at a time. We had to leave before the printing had finished, leaving the printer to complete the component by itself.
Claw parts currently printed are shown below.