[BotshareAI]

Summary

• BASE-CONTROLLER-IO: 4 x MB7060 in the edge holes, 2 x TF-Luna cliff sensors in the centre holes.
• CAMERAS: Gemini 336L centred on the old camera centre, 142.5 mm above the floor; 243 mm superseded.
• BASE-CONTROLLER-GATES and FRAMES-REP105: ICM-42688-P is the 2.0 IMU, imu_link at x 0.195 m on the centreline.
• ARM-MOUNT: column axis 330 mm behind the front edge, x +0.060 at bp000 and +0.110 at bp050.
• NAV-LIDAR: 7.1 mm spacer, lidar_link (0.330, 0, 0.124), v0.0.1 body filter kept unchanged.
• NEAR-FIELD-FRAMES: new entry with the four ultrasonic and two ToF frames, new rear centre hole.

Source: Alex decision 2026-10-12, to be recorded in P-03 rev19.0.

Follow-up commit 3d3c0c4:

• BASE-CONTROLLER-GATES is now titled "Base-controller gates and the 2.0 IMU". Its verification.human evidence reads "Gate A test log, STM32 go/no-go record, ICM-42688-P WHO_AM_I 0x47 boot log".
• NAV-LIDAR applies_to.files adds **/*.xacro and **/*.urdf, so a 0.335 / 0.18 LiDAR origin in a model file is now detected.

Files changed: decisions.yaml, tests/test_check_decisions.py, WATCHDOG.md (accepted-words table regenerated with python3 tools/watchdog.py --accepted-words; tests/test_watchdog.py requires it to match the register; the follow-up commit leaves it unchanged).

Changes needed to apply the list, beyond its literal wording:

• sources: gains the key Alex decision 2026-10-12. The validator requires every source document to be listed there.
• Every changed entry's source is now {document: "Alex decision 2026-10-12", item: "<topic>; P-03 rev19.0 to record"}. The schema has one source per entry, so values kept unchanged in those entries now sit under the new source. Their earlier sources survive only in the supersedes lists.
• The MB7040 check message in BASE-CONTROLLER-IO said "two MaxBotix MB7060"; it now says four.
• The verification.machine text of BASE-CONTROLLER-GATES no longer mentions the removed ICM-42688-P check. The new checks in BASE-CONTROLLER-IO, CAMERAS, ARM-MOUNT and NAV-LIDAR are added to their entries' verification.machine text.
• NAV-LIDAR's single value becomes a values list (the original text first) so the two new values can be added.
• NEAR-FIELD-FRAMES has one narrow check: the 20 degree ToF pitch called final, fixed, validated or confirmed, unless the line says screening, bench or until. The schema rejects a recorded entry with no check, and the decision owner chose this option. Applies to openamr-platform-* and openamrobot-docs.

Work package

Alex decision 2026-10-12, to be recorded in P-03 rev19.0. No contract change request issue is linked.

Integration Gate

• openAMRobot/.github#45 is merged into main as 849e8cf; this PR is based on main.
• Other open PR: openAMRobot/.github#41 (CI image), no overlap.
• Consumer: openAMRobot/openamr-platform-sw#45 labels its 0.335 / 0.18 LiDAR pose "Gate A unit". Run against this register, it reports 0 NAV-LIDAR findings.
• No checker code changed; existing check_decisions.py and watchdog.py reused.

Tests

New or changed tests in tests/test_check_decisions.py:

• test_sensor_layout_alex_2026_10_12
• test_base_camera_height_243_superseded
• test_icm42688p_is_the_2_0_imu, for the removed check
• test_column_axis_not_on_drive_axle
• test_lidar_link_pose, extended in the follow-up commit with .xacro and .urdf cases
• test_near_field_frames_tof_pitch_is_screening

Two existing negatives that now state superseded values were updated: "Two MaxBotix MB7060" became "Four", and the Gemini line moved from 243 mm to 142.5 mm.

Revert runs:

• With decisions.yaml restored from e708c73, python3 -m pytest -q tests/test_check_decisions.py gives 6 failed, 55 passed, and the six failures are the new tests.
• With decisions.yaml restored from a6948e9 (before the follow-up), it gives 1 failed, 60 passed. The failure is test_lidar_link_pose, because model files were not scanned.

With this head, python3 -m pytest -q tests gives 245 passed. No test reads the entry title or the human-evidence text, so the retitle needed no test change.

Evidence

Base SHA: 849e8cf
Head SHA: 18424a8

python3 -m pytest -q tests                                  -> 245 passed
python3 tools/watchdog.py --root <this clone> --report-only -> Total: 0 finding(s) (decisions, public extract, shared agent rules, workflow policy); 0 reviews due
python3 tools/check_decisions.py --decisions decisions.yaml --maintainers maintainers.yaml --validate-only
                                                            -> decisions: 30 loaded, 26 recorded and scanned, 1 open, 3 superseded
bash rollout/verify.sh (at a6948e9)                         -> Tests executed: 245 of 245 (skipped 0); PASS: all detected verification stages

Consumer impact, from main of each repository scanned with the register before and after this change. These are new findings in other repositories, reported here and not fixed:

• openamr-platform-sw @6be7439: +5 NAV-LIDAR findings for the old LiDAR pose ("0.335 ... 0.18"):

  • docs/navigation/01_architecture.md:89
  • docs/troubleshooting/diagnostics.md:81
  • ros2/src/openamrobot_bringup/README.md:140
  • ros2/src/openamrobot_bringup/launch/real_bringup.launch.py:70 and :71

  chore: navigation LiDAR is the RPLIDAR S3 (P-03 rev18.4 item 13) openamr-platform-sw#45 labels all five as Gate A unit.

• openamr-platform-hw @169a613: +1 NAV-LIDAR finding at electrical/sensors/lidar.md:34.

• openamr-platform-fw, openamrobot-docs, openamr-upperbody-sw, openamr-upperbody-hw and openamrobot-manipulation: no change.

• The .xacro and .urdf scope in the follow-up adds no findings on main of openamr-platform-sw, openamr-platform-hw, openamr-platform-fw or openamrobot-docs.

Dependencies

None.

Safety impact

None. Register text, checker patterns and tests only. The ultrasonic and ToF sensors are recorded as layout and frame values; nothing here describes them as safety devices.

STATE.md

No change: this repository has no STATE.md, and the task limited the change to the listed register entries.

Not verified

• No value was checked against the Rev B panel drawing, option B drawing sheet 2 rev A, the URDF, the LiDAR mount or the robot. The scan proves textual consistency only.
• The decision itself has no source document in the plan set yet (P-03 rev19.0 is pending), and the "Changing a decision" process (change request issue, owner approval) has not been completed.
• No ICM-42688-P WHO_AM_I boot log, Gate A test log or STM32 go/no-go record has been reviewed; the new evidence text only names them.
• bash rollout/verify.sh was not re-run on 3d3c0c4; the pytest suite and the watchdog report were.
• The consumer findings in openamr-platform-hw are not fixed.

AI disclosure

Claude Code (Anthropic) edited decisions.yaml and the tests from the decision owner's change list, regenerated the WATCHDOG.md table with the repository tool, ran the commands above and drafted this description. Needs human review.

Contribution terms

• Every commit is signed off under the DCO.
• I am covered by an accepted Contributor Agreement. (to be confirmed by the author)
• Third-party material is identified with source and licence.
• No confidential, personal, credential or export-controlled information is included.
• No partner, customer or private person is named; the application is Use_Case_1.

🤖 Generated with Claude Code

https://claude.ai/code/session_01E4uoP2BE9MeeJDGK9EYzqD