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Looks like the 2013 robot and the SimpleTube chassis don't have the center pair of wheels dropped - how are you avoiding wheel scrub during turns? Looks like all of the 118 wheels are the same dia - do the custom wheels have a low lateral CoF?
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The Robonaut wheels were not the same diameter. The outer wheels were approximately 1/2" smaller in diameter. The CAD may not reflect this.
The internal geometry of the double sprocket does not allow for any drop.
SimpleTube will use this same arrangement of different sized wheels.