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fully omnidirectional swerve that can translate and rotate simultaneously through all orientations
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I'm surprised no one has challenged this claim; such tornado-like moves are the holy grail of FRC movement (IMO) yet I haven't found a single video of a robot actually performing a 360-degree translate-and-rotate move. This drive train is definitely setup to perform the maneuver with its independent controls, and I'd love to see it work -- it's like a video game come to life, tbh.
I like how the crab drive required minimal CNC work. Was the main coaxial shaft split up into plates? If so, you could easily call them poker chips because that's what they'd look like. What was the hardest part of the crab modules manufacturing implementation?