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We do that with Excavators. Move the excavator near pipe or conduit. Swing boom over one track, push dipper down to elevate the one track. Wrap mule tape or p-line around track about 2-3 times, then move track stick, to get the one track spinning. Easy in the field capstan.
One outfit I worked for had a capstan that bolted into 3 lugs, on a Case 580 wheel. Same thing you did for the most part, put the outrigger down and wrap it around and pull product in, or out.
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