As another veteran of the pre-bumper days, you probably want to skin the outside of that drive train (at least the exposed metal parts) with thin Lexan/Delrin strips to have a smooth surface
if when you hit something.
Having the ends of aluminum tubing exposed like that will make it easier to get snagged on something as simple as an exposed bolt head on a partner robot.
Here's a photo of a WCD from 254 in 2004:
