Well, there was a good bit of jamming when the opening act guy came back out. (The Opening act was That1Guy, and he was pretty badass too.) Other than that, all the songs he played were recorded songs. The most badass part is that he'd stop playing Soothsayer or something, and then start playing the Willy Wonka theme, then jump right back into the song. I've never seen Satch or anybody else like that, so I don't know if he's the best live guitarist ever. Then again, I think he's probably the best guitarist out there, so best live one isn't a strech.
BTW, in addition to doing the robot, he also is a world-class nunchuk spinner. Pretty entertaining.