We decided that we would make a robot that would act as forklift. For our drive system, we have the default wide configuration with 6 wheel drive powered by double CIMs on each side. Our forklift is powered by 1/16″ cable using mechanical advantage and a double CIM setup there as well. It can grab totes from either the long or short ways and can also lift the recycle bin. We can probably lift 3 totes and the recycle bin at the most.