From 4b1c4ca246eb199fc059fafc397042f29925aeff Mon Sep 17 00:00:00 2001 From: Alex Reznichenko Date: Fri, 16 Oct 2026 16:12:08 +0200 Subject: [PATCH] Update decision register for P-03 rev19.4 --- decisions.yaml | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/decisions.yaml b/decisions.yaml index a70dfe1..65c303e 100644 --- a/decisions.yaml +++ b/decisions.yaml @@ -53,12 +53,12 @@ schema_version: 1 in_force: - source: P-03-rev19.2 - date: 2026-10-15 + source: P-03-rev19.4 + date: 2026-10-16 sources: Alex decision 2026-10-16: - title: Platform decision of 16 October 2026 (base camera pose, imu_link and LiDAR stack as built, from CAD Rev B, platform-hw #20); to be recorded in the next P-03 revision, item 19 D3, D4 and D5 + title: Platform decision of 16 October 2026 (base camera pose, imu_link and LiDAR stack as built, from CAD Rev B, platform-hw #20); recorded in P-03 rev19.4 item 19 D3, D4 and D5 evidence: decision record, not held in any repository; provenance only, CI never reads it Alex decision 2026-10-12: title: Platform decision of 12 October 2026 (sensor layout, base camera, IMU, column position, LiDAR mount, drive track); history, recorded in P-03 rev19.0 item 19 @@ -76,6 +76,9 @@ sources: P-03-rev19.2: title: "OpenAMRobot 2.0 Decision Addendum rev19.2, 15 October 2026 (item 20: E-stop scope, single RESET button, wireless charging, battery faults)" evidence: plan-set document, not held in any repository; cited by item + P-03-rev19.4: + title: "OpenAMRobot 2.0 Decision Addendum rev19.4, 16 October 2026 (item 19: CAD Rev B base camera, IMU and LiDAR updates)" + evidence: plan-set document, not held in any repository; cited by item E-01-rev1.1: title: E-01 Safety and Power Distribution Baseline rev1.1, 15 October 2026 (detail for P-03 item 20) evidence: plan-set document, not held in any repository; provenance only, CI never reads it @@ -326,13 +329,14 @@ decisions: - base_footprint on the floor under the drive-axle midpoint - base_link at the drive-axle midpoint and axle height; x forward, z up - imu_link on the centreline, away from motor magnetic fields - - "imu_link (ICM-42688-P) on the centreline at (0.0544, 0, 0.133) m from base_link: electronics bracket MMP.04.00.00.002, 54.4 mm ahead of the drive axle, 177 mm above the base-plate top (-0.044); axes aligned with base_link" + - "imu_link (ICM-42688-P) is (0.0544, 0, 0.1210) m from base_link, yaw -90 deg (rpy 0, 0, -pi/2); raw sensor-frame values are published and the axis mapping is in the URDF with no firmware remap; 219.04 mm above the floor" unit: none date: 2026-10-16 review_by: 2026-11-27 - source: {document: "Alex decision 2026-10-16", item: "Alex decision 16 Oct 2026; P-03 next revision, item 19 D5"} + source: {document: P-03-rev19.4, item: "item 19 D5"} supersedes: - - {value: "(0.195, 0, -0.044) plus board stack", source: "Alex decision 12 Oct 2026, superseded by Alex decision 16 Oct 2026 (CAD Rev B, platform-hw #20)"} + - {value: "(0.0544, 0, 0.133)", source: "Alex decision 2026-10-16, superseded by P-03 rev19.4 item 19 D5 (CAD Rev B)"} + - {value: "(0.195, 0, -0.044) plus board stack", source: "Alex decision 2026-10-12, superseded by P-03 rev19.4 item 19 D5 (CAD Rev B)"} applies_to: {repositories: ["*"], files: ["**/*.md", "**/*.yaml", "**/*.yml", "**/*.html", "**/*.xacro", "**/*.urdf", "**/*.launch.py"]} check: - pattern: '(?P\bbase_link\b[^\n]{0,30}\b(?:on|at) the floor\b)'