[pfreivald]

Looks great! In addition to the above (swapping wheel placement), I think you could get a more compact design using four fat pancake cylinders instead of four longer cylinders with a long lever arm on the butterfly. You're losing a lot of pod-turning torque based on that angle anyway, so why not mount a pancake cylinder so it can push the pod straight down?

(We've been iterating octocanum for quite a few years now, and that's how we intend to do it this year if we keep octocanum this year...which we may not.)