[GeeTwo]

That looks like a neat layout, with the drive belt actually going around the steering motor; it allows for a lower COG than most swerves I've seen. If a low COG (and profile) is a real driver, though, is there enough room for the steering motor below the "gearbox"? With steering motors below the box, I could see this as a great low-profile, low-COG, easily machinable swerve - and probably as one which could be downgraded to crab drive by orienting the boxes radially and running belts or chains annularly.

Is there a chain in the caster section? There doesn't seem to be enough room for a belt (much less a bevel gear) on the wheel axle.