[JesseK]

Drive Train: of all of the CAD and driver test studies we've done, a plain WCD with normal front/rear rails works best for us. That 2x1 rail, when placed at the right height, is a BEAST at pushing totes. It's also a BEAST at aligning the robot to the tote if the tote is on the wall. It also just so happens to space the tote perfectly from our pickup mechanism, meaning we can pick up which moving/pushing.

We'll have a RC & tote stacker that can do totes from anywhere, but given that it isn't dependent upon HP loading and partners may be dependent upon HP loading, it will probably work on the field totes.

There are 2 other mechanisms for a field-tote-centric strategy, one which has been given limited consideration and the other which is undergoing prototyping & analysis right now.