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docs: align decision register with P-03 rev19.4 #51

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docs: align decision register with P-03 rev19.4 #51

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16 changes: 10 additions & 6 deletions decisions.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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<found>\bbase_link\b[^\n]{0,30}\b(?:on|at) the floor\b)'
Expand Down