Swerve Design

[TheHolyHades1]

Slick rendering!

That weight sounds a lot more accurate. You might want to consider flipping the CIM and the rs550 upside down, and then switching their positions in order to lower the center of mass of the module significantly. That would require you to switch the spacers from the CIM to the rs550, which may in fact be better considering that you'll get a more rigid mounting for the CIM, which will be dealing with higher loads.

Also, I'd be interested to learn how this new igus material performs for you, and how it compares to some more standard choices, like delrin or a bronze bushing.