Remap caps lock to escape in OS X

Remap caps lock to escape in OS X I've always remapped my caps lock key to escape in windows/linux, but having just recently moved to OS X I can't seem to find a way to actually do this. Any idea as to how to set this up? Xmodmap seems to only be respected by x11 applications, and I'd highly prefer this to be system wide.
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Guest [Entry]

"You cannot easily do it out of the box. What you can do is remap capslock to some other key you don't use, e.g. the Help Key. Then you can use another key remapper software to remap the Help Key to ESC.

See here for details."