pic: Summer Swerve Rev2
 

Re: pic: Summer Swerve Rev2
 

Looks interesting. The lightening pattern and flanges on the caster box look quite strong. You may want to model the tread on the wheel to be sure it fits. A nice set of speeds, although a tad fast for the high gear. I bet you could swap a CIM pinion and fix that, but it's no biggie.
Is it possible to turn it into a 2-plate design rather than a 3-plate one? This would reduce size and weight. Is it possible to flip the CIM? That lowers center of mass quite a bit.
As it stands, you could probably move the turning gearbox one plate lower. The extra mounting points for the motors can be removed via Configurations, so I would use those and cull some weight that way too.
What is the weight?
Where are the encoders?

Re: pic: Summer Swerve Rev2
 

Currently, the turning gearbox is connected to a coupler that will allow quick swapping if necessary. We faced problems last year with difficulty switching the planetary gearboxes. I do have another configuration with a longer setup rather than the taller that uses only 2 plates. The weight is around 8.5 lbs.
Probably can't see it in the render, but right above the turning pulley is a casing that attaches the encoder to the shaft.
Just noticed the tread isn't shown, but it does fit without interference.

Re: pic: Summer Swerve Rev2
 

By Configurations, I mean using different configurations for parts. On the left menu in Solidworks, there is a "configuration manager" tab that lets you make different versions of the same part. So for the bottom two plates in this example, you can make them both configurations that have an extra cut-extrude that cuts away the parts you don't want. That way, any change you make in outside dimensions is shared while keeping the cutouts.
8.5lbs is pretty good.

Re: pic: Summer Swerve Rev2
 

I meant that I have a different assembly with different plates. But the plates in this assembly are different configurations.