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Full details including CAD data on GrabCAD: https://grabcad.com/library/frc-octocanum-drive-module-left-1
Design tutorial (work in progress) on Google Sheets:
https://docs.google.com/spreadsheets/d/1gzA11bI9n5ZhO_p6iVLXB1NZRcxZ3uVFN0hlVlqpTK8/edit?usp=sharing