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decisions: shared base, embodied-AI repo, platform-sw pin, ToF pitch 10 deg, base_link height in FRAMES-REP105 #55
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| Original file line number | Diff line number | Diff line change |
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@@ -57,6 +57,12 @@ in_force: | |
| date: 2026-10-18 | ||
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| sources: | ||
| Alex decision 2026-10-20: | ||
| title: Platform decision of 20 October 2026 (TF-Luna cliff pitch 10 degrees; WCM-500-24 on release 001 and 2.0; embodied-AI repository; platform-sw pin for the combined model) | ||
| evidence: decision record, not held in any repository; provenance only, CI never reads it; to be recorded in the next P-03 revision | ||
| Alex decision 2026-10-19: | ||
| title: Platform decision of 19 October 2026 (one shared base electrical design for release 001 and 2.0) | ||
| evidence: decision record, not held in any repository; provenance only, CI never reads it; to be recorded in the next P-03 revision | ||
| 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; imu_link pose and orientation from platform-sw #70); 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 | ||
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@@ -338,6 +344,7 @@ decisions: | |
| values: | ||
| - base_footprint on the floor under the drive-axle midpoint | ||
| - base_link at the drive-axle midpoint and axle height; x forward, z up | ||
| - base_link 0.098 m above the floor (axle height; moved here from CAMERAS on 20 Oct 2026, value unchanged, P-03 rev19.4 item 19 D3) | ||
| - imu_link on the centreline, away from motor magnetic fields | ||
| - "imu_link (0.0544, 0, 0.1210) m from base_link, rpy (0, 0, -pi/2), yaw -90 deg: ICM-42688-P on MIKROE-4237 on the electronics bracket MMP.04.00.00.002, centreline, 54.4 mm ahead of the drive axle, chip centre 165.043 mm above the base-plate top, 219.04 mm above the floor" | ||
| - "the IMU publishes raw sensor-frame values; the axis mapping is in the URDF (sensor X to base -y, Y to +x, Z to +z); no firmware remap" | ||
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@@ -366,26 +373,32 @@ decisions: | |
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| - id: NEAR-FIELD-FRAMES | ||
| title: Near-field ultrasonic and ToF sensor frames on the base panels | ||
| summary: "Four MB7060 us_* at x +/-0.390 (panel face), y +/-0.130; two TF-Luna tof_* at x +/-0.399 (lens face), 10 deg down." | ||
| fix_hint: "Use the listed frame origins; the ToF pitch is 10 degrees down, confirmed in the bench test." | ||
| kind: value | ||
| status: recorded | ||
| values: | ||
| - us_front_left (0.390, +0.130, -0.0066), us_front_right (0.390, -0.130, -0.0066), us_rear_left (-0.390, +0.130, -0.0066, yaw pi), us_rear_right (-0.390, -0.130, -0.0066, yaw pi) from base_link; confirmed flush with the panel outer face (the CAD offsets +0.6 / -1.4 mm only reflect the sensor depth in the lock nut) | ||
| - "ultrasonic mounting: MB7060 holes 27.5 mm on the existing centres, sensor centred, 3/4 inch NPS lock nut, tilt 0 until the bench test" | ||
| - tof_front (0.399, 0, -0.0066) and tof_rear (-0.399, 0, -0.0066, yaw pi) from base_link: lens face 9 mm ahead of the panel on mount MMP.00.00.00.005, pitched 10 degrees down; in the existing 22.0 mm front centre hole and a new 22.0 mm rear centre hole | ||
| - both ToF sensors pitched 10 degrees down; from 91.4 mm above the floor the beam meets the floor about 0.52 m ahead (0.47 to 0.58 m over the 2 degree beam); the bench test confirms the return on real floors | ||
| unit: m | ||
| date: 2026-10-20 | ||
| review_by: 2026-12-01 | ||
| source: {document: Alex decision 2026-10-20, item: "Alex decision 2026-10-20 (ToF pitch) and robot-description owner confirmation 2026-10-20 (frame x values); y and height from P-03 rev19.0 item 19"} | ||
| supersedes: | ||
|
There was a problem hiding this comment. [P2] Link the complete ToF consumer migration #54 lists the architecture prose and sensor_frames.yaml for the pitch change, but the executable sensors.xacro and robot.sdf still use 0.3491 rad (20 degrees). The hardware near-field document also retains 20 degrees and is missing from the migration list. Updating only the listed prose/datum files would leave the actual model inconsistent. Please link owner-reviewed consumer PRs covering these files, the datum table and the software documentation, as required by the decision-change rule. The new text patterns do not detect these numeric model values, and SDF is not in this entry's scanned file types; a green checker alone will not close this gap. |
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| - {value: "both ToF sensors pitched 20 degrees down (screening value)", source: "P-03-rev19.0 item 19 D6"} | ||
| - {value: "tof_* at x +/-0.390", source: "P-03-rev19.0 item 19 D6"} | ||
| applies_to: {repositories: ["openamr-platform-*", "openamrobot-docs"], files: ["**/*.md", "**/*.yaml", "**/*.yml", "**/*.html", "**/*.xacro", "**/*.urdf"]} | ||
| check: | ||
| - pattern: '(?P<found>\b(?:tof_(?:front|rear)|TF-Luna)\b[^\n]{0,60}?\b20\s*(?:°|deg(?:rees?)?))' | ||
| unless: 'supersed|replac|previous|earlier|historical|instead of|was 20|from 20' | ||
| message: the ToF cliff pitch is 10 degrees down, not 20 (Alex decision 20 Oct 2026) | ||
| - pattern: '(?P<found>\b(?:tof_(?:front|rear)|TF-Luna)\b[^\n]{0,60}?\b10\s*(?:°|deg(?:rees?)?)[^\n]{0,40}?\b(?:final|validated|confirmed)\b)' | ||
| unless: 'bench|until' | ||
| message: the 10 degree ToF pitch is confirmed only by the bench test (Alex decision 20 Oct 2026) | ||
| verification: | ||
| machine: a 20 degree ToF pitch presented as current, or the 10 degree pitch presented as validated before the bench test | ||
| human: {reviewer: robot-description-owner, evidence: Rev B panel drawing and URDF joint origins} | ||
| owner: platform-lead | ||
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@@ -597,7 +610,7 @@ decisions: | |
| kind: value | ||
| status: recorded | ||
| values: | ||
| - base camera Orbbec Gemini 336L, base_camera_link (0.387, 0, 0.046) m from base_link, pitch from base_tilt (bt05, bt10, bt15, default bt10); camera centre 144 mm above the floor (base_link height from FRAMES-REP105 + z 0.046 m); front-panel opening about 126 x 36 mm centred on it; from CAD Rev B (platform-hw #20) | ||
| - head camera Stereolabs ZED Mini (SKU ZED-121210) on the lift carriage, see HEAD-CAMERA-IDENTITY | ||
| - two in-hand RGB wrist cameras; no separate torso scene camera | ||
| unit: none | ||
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@@ -901,6 +914,7 @@ decisions: | |
| status: recorded | ||
| values: | ||
| - TZBOT WCM-500-24 wireless charger is the 2.0 charging path; output ordered at 28.4 V after written TZBOT confirmation | ||
| - the release 001 build uses the same WCM-500-24 path (SHARED-BASE, Alex decision 20 Oct 2026); the WCM-300 on the release 001 robot today is an existing unit, not the design | ||
| - receiver, SB50 connector, F-CHG 30 A, charge relay and fault input are designed in | ||
| - the charge relay NC contact opens the PNOZ supply, so actuators cannot be enabled while charging and a RESET is needed after | ||
| - wired inlet PWR-019 and plug-presence switch PWR-020 are removed | ||
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@@ -926,6 +940,84 @@ decisions: | |
| human: {reviewer: platform-lead, evidence: "written TZBOT confirmation of the 28.4 V output, E-01 rev1.1 charge-relay wiring into the PNOZ supply"} | ||
| owner: electrical-owner | ||
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| - id: SHARED-BASE | ||
| title: One base electrical design for release 001 and 2.0 | ||
| summary: "One base electrical design for release 001 and 2.0; only the controller and sensor types differ." | ||
| fix_hint: "Describe the base electrical design as shared; only the controller (Teensy/STM32) and sensor types differ." | ||
| kind: configuration | ||
| status: recorded | ||
| values: | ||
| - "the base electrical design is designed once for the release 001 build and carried over to 2.0 as the same solution: safety chain (E-01), charging, E-stop wiring and logic, power distribution, battery and protection, and the near-field sensing approach (integration, mounting and wiring)" | ||
| - "intended differences only: base controller (release 001 Teensy, 2.0 STM32H723ZG) and sensor types (release 001 JSN-SR04T ultrasonic and E18-D80NK IR; 2.0 MB7060 ultrasonic and TF-Luna ToF), plus changes that follow from those two" | ||
| - both robots use the TZBOT WCM-500-24 charging path (see CHARGING) | ||
| - test evidence from the release 001 build counts for 2.0 only where parts, revisions, wiring, configuration and acceptance criteria match | ||
| unit: none | ||
| date: 2026-10-19 | ||
| review_by: 2026-11-30 | ||
| source: {document: Alex decision 2026-10-19, item: "shared base for release 001 and 2.0; WCM-500-24 on both robots added 20 Oct 2026"} | ||
| applies_to: | ||
| repositories: ["openamr-platform-*", "openamrobot-docs"] | ||
| files: ["**/*.md", "**/*.yaml", "**/*.yml", "**/*.html"] | ||
| check: | ||
| - pattern: '(?P<found>(?:charg\w*|receiver)[^\n]{0,40}\bWCM-300\b|\bWCM-300\b[^\n]{0,20}\bcharg\w*)' | ||
| unless: 'existing|today|legacy|historical|replaced|supersed|not the design|current unit|manual|instruction' | ||
| message: both robots use the TZBOT WCM-500-24 charging path; the WCM-300 is only the existing unit on the release 001 robot (SHARED-BASE) | ||
| verification: | ||
| machine: the WCM-300 presented as the release 001 or 2.0 design | ||
| human: {reviewer: electrical-owner, evidence: "Sheet A and Sheet B and the wire list showing the shared parts; equivalence table per shared subsystem"} | ||
| owner: platform-lead | ||
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| - id: EMBODIED-AI-REPO | ||
| title: Embodied-AI work lives in openamrobot-embodied-ai | ||
| summary: "Recorder, policy runner, dataset QA, ACT baseline and evaluation live in openamrobot-embodied-ai; schema in interfaces." | ||
| fix_hint: "Put recorder, dataset QA and training code in openamrobot-embodied-ai; interfaces keeps the C9 schema." | ||
| kind: configuration | ||
| status: recorded | ||
| values: | ||
| - "openamrobot-embodied-ai holds two parts: ros2/ (colcon: recorder to LeRobotDataset, policy runner) and python/ (pip, pinned LeRobot release: dataset QA C10, conversion, ACT baseline C11, evaluation C14); each part has its own CI job" | ||
| - openamrobot-interfaces keeps only the C9 whole-body capture schema contract and its conformance test | ||
| - datasets and model checkpoints are never committed to git; they are published on the Hugging Face Hub with dataset and model cards after the C10 privacy and source checks | ||
| unit: none | ||
| date: 2026-10-20 | ||
| review_by: 2026-12-01 | ||
| source: {document: Alex decision 2026-10-20, item: "embodied-AI repository structure"} | ||
| applies_to: | ||
| repositories: ["openamrobot-interfaces", "openamrobot-embodied-ai", "openamrobot-docs"] | ||
| files: ["**/*.md"] | ||
| check: | ||
| - pattern: '(?P<found>\b(?:recorder|policy runner|ACT baseline)\b[^\n]{0,60}\b(?:in|into|under) openamrobot-interfaces\b)' | ||
| unless: '\bnot\b|never|no longer|schema only|contract only|supersed' | ||
| message: recorder, policy runner and training code live in openamrobot-embodied-ai; interfaces keeps only the C9 schema (EMBODIED-AI-REPO) | ||
| verification: | ||
| machine: recorder, policy runner or training code placed in openamrobot-interfaces | ||
| human: {reviewer: software-lead, evidence: repository layout and CI jobs of openamrobot-embodied-ai} | ||
| owner: software-lead | ||
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| - id: PLATFORM-PIN | ||
| title: The combined robot model is tested against one pinned platform-sw commit | ||
| summary: "upperbody-sw tests the combined model against one pinned platform-sw SHA; the pin moves only with a full A6/A7 rerun." | ||
| fix_hint: "Cite the pinned platform-sw SHA in combined-model evidence; move the pin only together with a full A6/A7 rerun." | ||
| kind: configuration | ||
| status: recorded | ||
| values: | ||
| - the combined robot model in openamr-upperbody-sw is tested against one pinned platform-sw commit (dfd44a5 on 20 Oct 2026) | ||
| - the pin moves only together with a full A6/A7 rerun on the new commit, and every evidence report records the platform-sw SHA it used | ||
| unit: none | ||
| date: 2026-10-20 | ||
| review_by: 2026-12-01 | ||
| source: {document: Alex decision 2026-10-20, item: "platform-sw pin for the combined model (requested by the combined-model owner)"} | ||
| applies_to: | ||
| repositories: ["openamr-upperbody-sw"] | ||
| files: ["**/*.md"] | ||
| check: | ||
| - pattern: '(?P<found>\btested against (?:openamr-)?platform-sw (?:main|latest|HEAD)\b)' | ||
| unless: '\bnot\b|never|supersed|historical' | ||
| message: combined-model evidence uses one pinned platform-sw SHA, not main (PLATFORM-PIN) | ||
| verification: | ||
| machine: combined-model evidence claiming to be tested against platform-sw main instead of a pinned SHA | ||
| human: {reviewer: software-lead, evidence: "A6/A7 reports recording the pinned platform-sw SHA"} | ||
| owner: software-lead | ||
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| - id: BMS-FAULTS | ||
| title: Battery fault handling | ||
| summary: "Daly BMS reports over CAN2; the STM32 stops motion and locks; the BMS disconnects the pack on a hard fault." | ||
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[P2] Keep bench confirmation explicitly pending
This fix_hint is printed by the checker and currently tells users the 10-degree pitch is 'confirmed in the bench test'. No completed bench result is linked, while this entry's verification text still treats premature validation claims as an error. Please say that 10 degrees is the chosen design pending a real-floor return test, or link the actual completed qualification if available. Apply the same explicit status to the values/PR summary. The floor-intersection geometry is a calculation, not evidence of a successful sensor return on real floors.