I've updated the 3d model files with a better design. This design has room to add magnetic rotary encoders on both shafts. The motor mount for the NEMA 11 yaw motor has been turned into a stand alone piece so that the motor can be hooked up and then the whole piece connected to the main body. There are also holders for the yaw bearings that are spaced so that a pair of washers and the worm gear assembly will hold the bearings in place and prevent the shaft from shifting up and down. Some minor improvements were made to the hole spacing for the battery pack (and the case for the battery pack is not yet fully designed). The lidar lite mount has been updated to include a cover to protect the lidar module a bit more. 

Updates are available on GitHub.