decisions: sensor layout, base camera, IMU, column position and LiDAR mount (Alex decision 12 Oct 2026)

WATCHDOG.md

@@ -128,25 +128,26 @@ identical to the register.
 | MAX-ASSEMBLED-HEIGHT | recorded | *maximum assembled height is 1700 mm*: no label; correct the line or add a decision-allow marker<br>*1700 mm is the assembled-height envelope, not a shoulder height or mast position*: `max`, `envelope`, `not shoulder, not the shoulder`, `higher`, `supersed (superseded, supersedes)` |
 | DATUM-HEIGHT-STACK | recorded | *the steel chassis deck top is 294 mm above the floor*: `supersed (superseded, supersedes)`, `historical`, `legacy`, `earlier`, `previous`<br>*the lift base-plate top face is 304 mm above the floor, the reference for lift and shoulder heights*: `supersed (superseded, supersedes)`, `historical`, `legacy`, `earlier`, `previous` |
 | FRAMES-REP105 | recorded | *base_link is at the drive-axle midpoint and axle height; base_footprint is on the floor*: `base_footprint`, `not`, `never`, `supersed (superseded, supersedes)`, `historical`, `legacy`<br>*base_footprint is on the floor under the drive-axle midpoint*: `not`, `never`, `supersed (superseded, supersedes)`, `historical`, `legacy`<br>*imu_link sits on the centreline away from motor magnetic fields*: `away`, `not`, `never`, `supersed (superseded, supersedes)`, `historical`, `legacy` |
+| NEAR-FIELD-FRAMES | recorded | `screening`, `bench`, `until` |
 | BATTERY-PLACEMENT | recorded | `supersed (superseded, supersedes)`, `historical`, `previous`, `earlier`, `rev 18.1 to rev 18.6` |
 | SPEED-CEILING | recorded | *1.5 m/s is a command ceiling, not an operating limit*: `ceiling`, `analytical`<br>*1.5 m/s is not an accepted operating speed*: `ceiling`, `analytical`, `not` |
 | DRIVETRAIN | recorded | *the selected motor variant is ZLLG80ASM250-L-B*: no label; correct the line or add a decision-allow marker<br>*ZLTECH is the selected 2.0 drivetrain, not an option*: no label; correct the line or add a decision-allow marker<br>*brake fail-safe function and ratings are open supplier-evidence gates*: `pending`, `F2A`, `verif`, `not yet`, `unverified` |
 | RS485-NOT-IN-2-0 | recorded | *RS485 is not provisioned in 2.0*: `not used`, `no RS485`, `not provisioned`, `without`, `legacy`, `Gate A`, `removed`, `not in 2.0`<br>*CAN1 and CAN2 are dedicated; no upper-body serial link to the base*: no label; correct the line or add a decision-allow marker |
-| BASE-CONTROLLER-GATES | recorded | *Teensy is the Gate A controller and the release fallback, not a bench target*: no label; correct the line or add a decision-allow marker<br>*ICM-42688-P is gated; MPU6500 remains the Gate A IMU*: `Gate B`, `conditional`, `20 Nov`, `candidate`, `pending`, `not yet`, `after`<br>*the Gate A IMU is the MPU6500*: no label; correct the line or add a decision-allow marker |
-| BASE-CONTROLLER-IO | recorded | *the base controller is the STM32H723ZG on the NUCLEO-H723ZG; label STM32H743 / NUCLEO-H743ZI2 material as superseded*: `supersed (superseded, supersedes)`, `legacy`, `historical`, `replaced`<br>*the ultrasonic sensors are two MaxBotix MB7060 on dedicated STM32 UARTs at 9600 8N1; no sensor I2C*: `supersed (superseded, supersedes)`, `legacy`, `historical`, `replaced`<br>*micro-ROS runs over UDP on Ethernet between MCU and Jetson; USB is for the bench only*: `bench`, `legacy`, `Gate A`, `Teensy`, `supersed (superseded, supersedes)`, `historical` |
+| BASE-CONTROLLER-GATES | recorded | *Teensy is the Gate A controller and the release fallback, not a bench target*: no label; correct the line or add a decision-allow marker<br>*the Gate A IMU is the MPU6500*: no label; correct the line or add a decision-allow marker |
+| BASE-CONTROLLER-IO | recorded | *the base controller is the STM32H723ZG on the NUCLEO-H723ZG; label STM32H743 / NUCLEO-H743ZI2 material as superseded*: `supersed (superseded, supersedes)`, `legacy`, `historical`, `replaced`<br>*the ultrasonic sensors are four MaxBotix MB7060 on dedicated STM32 UARTs at 9600 8N1; no sensor I2C*: `supersed (superseded, supersedes)`, `legacy`, `historical`, `replaced`<br>*micro-ROS runs over UDP on Ethernet between MCU and Jetson; USB is for the bench only*: `bench`, `legacy`, `Gate A`, `Teensy`, `supersed (superseded, supersedes)`, `historical`<br>*the base has four MaxBotix MB7060 (edge holes) and two TF-Luna ToF cliff sensors (centre holes)*: `supersed (superseded, supersedes)`, `legacy`, `historical` |
 | IMU-TOPIC-OWNERSHIP | recorded | *firmware publishes /imu/data_raw; /imu/data belongs to the host filter*: `host`, `filter (not unfiltered)`, `EKF`, `madgwick`, `must not`, `never`, `outdated`, `older revision(s)`<br>*firmware must not publish filtered /imu/data*: no label; correct the line or add a decision-allow marker |
-| CAMERAS | recorded | *the base camera is the Orbbec Gemini 336L*: `legacy`, `historical`, `previous`, `not used`, `replaced`<br>*the base camera tilts about 10 degrees up*: no label; correct the line or add a decision-allow marker<br>*the 2.0 base camera is the Orbbec Gemini 336L*: `legacy`, `Gate A`, `historical`<br>*the Gemini 336L up-tilt positions are 5, 10 and 15 degrees, baseline 10*: `supersed (superseded, supersedes)`, `historical`, `legacy` |
+| CAMERAS | recorded | *the base camera is the Orbbec Gemini 336L*: `legacy`, `historical`, `previous`, `not used`, `replaced`<br>*the base camera tilts about 10 degrees up*: no label; correct the line or add a decision-allow marker<br>*the 2.0 base camera is the Orbbec Gemini 336L*: `legacy`, `Gate A`, `historical`<br>*the Gemini 336L up-tilt positions are 5, 10 and 15 degrees, baseline 10*: `supersed (superseded, supersedes)`, `historical`, `legacy`<br>*the Gemini 336L housing centre is 142.5 mm above the floor, base_camera_link (0.376, 0, 0.0445)*: `supersed (superseded, supersedes)`, `historical` |
 | HEAD-CAMERA-IDENTITY | recorded | `supersed (superseded, supersedes)`, `historical`, `legacy`, `replaced`, `not` |
 | POWER-RAILS | recorded | *there is no 12 V rail in 2.0*: `no 12`, `not`, `never`, `legacy`<br>*there is no 12 V rail in 2.0*: `legacy` |
 | DOCK-NO-CONTACTS | recorded | *2.0 docking has no dock contacts*: `no`, `not`, `without`, `3.0`, `never`<br>*no dock or charge pilot in 2.0*: `no`<br>*wireless charging belongs to 3.0*: `3.0`, `later`, `deferred`, `not` |
 | DOCKING-NOT-CHARGING | recorded | *2.0 docking is positioning only*: `not`, `never`, `instead`, `non-charging`, `legacy`<br>*never report charging from a docking pose*: no label; correct the line or add a decision-allow marker<br>*docking success never establishes charging*: `not`, `never`, `does not` |
 | TELEMETRY-NOT-SAFETY-EVIDENCE | recorded | `not`, `never`, `functional`, `no substitute` |
 | SAFETY-PROCUREMENT | recorded | *the EDM variant is not selected*: `not`, `unselected`, `open`<br>*no single-channel or uncertified E-stop recommendation*: no label; correct the line or add a decision-allow marker<br>*CTL-004 is bench-only*: `bench-only`, `until` |
 | COMPUTE | recorded | `legacy`, `historical`, `removed`, `supersed (superseded, supersedes)`, `Gate A`, `previous`, `earlier` |
-| NAV-LIDAR | recorded | *the 2.0 navigation LiDAR is the RPLIDAR S3 (S3M1-R2); the Hokuyo UST-10LX was dropped*: `supersed (superseded, supersedes)`, `dropped`, `legacy`, `historical`<br>*the 2.0 navigation LiDAR is the RPLIDAR S3 (S3M1-R2); label RPLIDAR A1 material as legacy*: `legacy`, `Gate A`, `existing robot`, `historical`, `replaced` |
+| NAV-LIDAR | recorded | *the 2.0 navigation LiDAR is the RPLIDAR S3 (S3M1-R2); the Hokuyo UST-10LX was dropped*: `supersed (superseded, supersedes)`, `dropped`, `legacy`, `historical`<br>*the 2.0 navigation LiDAR is the RPLIDAR S3 (S3M1-R2); label RPLIDAR A1 material as legacy*: `legacy`, `Gate A`, `existing robot`, `historical`, `replaced`<br>*lidar_link is (0.330, 0, 0.124) from base_link, yaw pi, with the 7.1 mm spacer plate*: `legacy`, `Gate A`, `supersed (superseded, supersedes)`, `historical` |
 | RELEASE-MILESTONES | recorded | *the OpenAMRobot 2.0 final release is 18 December 2026*: `supersed (superseded, supersedes)`, `previous`, `earlier`, `historical`<br>*there is no v0.2 release; development cycle 2 ends 20 November 2026 with v2.0.0-rc.1, and v2.0.0 follows on 18 December 2026*: `supersed (superseded, supersedes)`, `historical`, `earlier`, `previous`<br>*development cycle 2 ends 20 November 2026 with v2.0.0-rc.1, not 13 November*: `supersed (superseded, supersedes)`, `historical`, `earlier`, `previous` |
 | LIFT | recorded | *the lift is approved in principle for 2.0*: `supersed (superseded, supersedes)`, `historical`, `earlier`, `previous`, `no longer`, `rev 18.1 to rev 18.6`<br>*the fixed mast is no longer the baseline; the lift is approved in principle*: `supersed (superseded, supersedes)`, `historical`, `earlier`, `previous`, `legacy`, `replace (replaced, replacement)`, `instead of`, `no longer`, `rev 18.1 to rev 18.6`<br>*the lift is not deferred to 3.0; it is approved in principle for 2.0*: `supersed (superseded, supersedes)`, `historical`, `earlier`, `previous`, `no longer`, `rev 18.1 to rev 18.6`<br>*the lift is the DOLD Hexalift V4 350 mm, BS-HM240G350530-MFF24*: `supersed (superseded, supersedes)`, `historical`, `earlier`, `previous`, `replac`, `legacy`, `rev ?18.[1-7]`<br>*the lift base plate has two fore-aft positions, centre and +50 mm*: `supersed (superseded, supersedes)`, `historical`, `earlier`, `previous`, `replac`, `no longer`, `rev ?18.[1-8]` |
-| ARM-MOUNT | recorded | `not used`, `removed`, `upstream`, `no OpenArm body`, `supersed (superseded, supersedes)`, `historical` |
+| ARM-MOUNT | recorded | *the upstream OpenArm body is not used; attach openarm_{side}_base_link to the lift carriage*: `not used`, `removed`, `upstream`, `no OpenArm body`, `supersed (superseded, supersedes)`, `historical`<br>*the column axis is 330 mm behind the front edge, x +0.060 at bp000 and +0.110 at bp050, not on the drive axle*: `supersed (superseded, supersedes)`, `historical` |
 | CONFIG-IDS | recorded | `supersed (superseded, supersedes)`, `replac`, `historical`, `legacy`, `no longer` |
 | NO-SUSPENSION | recorded | `3.0`, `no`, `not fitted`, `without` |
 | DRIVE-TRACK | open | not scanned until the decision is taken |