SimReady · MuJoCo physics
Bin & pallet jack
Lift, carry and set down a bin—with gravity, contact and friction.
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- 1. Approach
- 2. Lift
- 3. Carry
- 4. Lower
- 5. Back away
Start transport resets the scene and runs the whole routine. Pause to inspect; reset to start over.
The jack is guided by forces. Its powered lift raises the bin through contact; friction carries it. The bin is never attached to the forks.
Open the separate bin drop experiment →
About the physics model
The controls follow the joints in the source assets:
- Container bin: the lid hinge (65° of travel), four wheel axles, and four swivelling caster mounts.
- Pallet jack: four wheel joints, steering, a main handle hinge (30°), and a secondary handle hinge (10°).
The pallet jack has no authored joint for lifting its forks. Its steering limits are unusually narrow (about ±1.31°); the control preserves them as written. Handle sliders show travel from the resting pose.
The demo adds a powered vertical lift and a 1 kg virtual chassis to the jack. These are a simplified mechanism, not a hydraulic system from the asset. All 18 source parts retain their authored masses and inertias.
A controller applies bounded pushing and guiding forces to the jack, like a person operating it. MuJoCo computes every body’s movement. The jack starts facing the bin; it must approach, lift through contact, carry through friction, lower, and withdraw.
Collision shapes approximate the meshes. Bin-to-jack and floor contacts are enabled; collisions between parts of the same asset are disabled. The motor strengths, floor and contact settings are demo assumptions. This is a working physics demo, not a certified handling test.
Viewer notes
- Bin body
- Blue plastic
- Bin height
- 1.72 m
- Bin mass
- 21.84 kg