[BotshareAI]

Pull request

Base E-stop and RESET in the docs visualizations, from the base mesh of openAMRobot/openamr-platform-sw#100. Scope:

• the base mesh swap;
• the "Safety chain (E-stop, RESET)" callout anchor moved to the E-stop position from that PR;
• removal of the illustrative duplicates and of the tote rails on the robot page.

The chest layout labels from the title are not in this PR: their positions come later from the mechanical CAD (M-09). The Nav2 footprint is not changed.

Mesh source

• Source: openamr-platform-sw PR #100, head 1939b82b47715b449d61685fedd4dea32b7fe4d2. That PR is still a draft, which is why this one is a draft too.
• GLB: regenerated with that head's converter.
  • Command: python3 tools/cad/step_to_description_meshes.py --hw-repo <openamr-platform-hw at eaac115> --hub-step <B2 STEP from platform-hw PR #28 head 60bf6dc> --hub-commit 60bf6dc… --out <scratch> --build <scratch>.
  • The GLB is build/base_visual.glb, which is not committed there.
• Result: sha256 4c126742d1048f875d20718d06d6b2f680958cfd11cf036f4a704b4dc8e391dd, 854,136 bytes. That is the value reported in #100.
• Same as the PR head: the run's PROVENANCE.yaml and base_equipment.stl are byte-identical to the ones committed at 1939b82.
• Embedding: in model/base_glb.js, as before (dotted base64).
• Against the previous docs GLB (fb41c555…, #96):
  • the 44 existing nodes have identical extras;
  • 2 nodes are new, estop and reset_button, both with placeholder: true.

Pages changed

• docs/assets/roadmap/robot.html: this page uses the shared model with the base GLB. It builds the robot with OAMR_MODEL.build(THREE, {fittings: true}), so it shows the GLB's estop and reset_button: the red E-stop at the lower front left (+y) and the blue RESET at the lower front right (-y). An earlier version of this description wrongly said the page only took the callout change. Changes:
  • Callout anchor: "Safety chain (E-stop, RESET)" moves from the front centre [0.39, 0.0, 0.25] to the E-stop hole axis [0.39, 0.13, 0.0445] m in base_link (#100: 390.00, +130.00, 44.50 mm, front-panel outer face). The anchor lies inside the estop node's bounding box.
  • Tote rails removed from buildTotes: the two aluDark rails per tote on the top cover (outer side rail and end rail at COVER + 0.006) are not in the BOM or the CAD. The totes, riser height and all pick, reach and placement logic are unchanged.
  • Limits sentence: now starts "Drawn as placeholders: the base E-stop and the RESET button at the release 001 button holes of the front panel (openamr-platform-sw #100, draft)." The rest of the sentence is kept.
  • Base source paragraph: names both placeholders with the PR link.
  • Render mode: new camera rear (raised rear three-quarter close-up), a viewpoint only, used for the stills below.
• docs/assets/roadmap/model/model.js:
  • estop and reset_button go from geometry "none" to the GLB nodes (envelope, placeholder: true). The source text gives the hole axis, P-03 rev20.0 item 24 and #100.
  • In chassisFittings (robot page fittings), removed the illustrative base E-stop (yellow box high on the front panel at y -0.2 and its two cylinders) and the rear-deck RESET (both cylinders), plus the then-unused resetLit material.
  • Kept: the chest E-stop on the arm profile (arm kit E-stop, ARM-008, in columnFittings), the base-plate hole marks, the skirt and the decals.
• docs/assets/roadmap/exploded.html:
  • Both parts are drawn and selectable.
  • A "Placeholder" badge appears in the component list and the legend.
  • The component card's Geometry line reads "Placeholder from datasheet dimensions (Schneider STEP not yet read); placeholder envelope at the documented position; shape and size not yet from the manufacturer model".
• Other shared model files:
  • model/base_glb.js: the new GLB.
  • model/exploded.json: explode and opened-base offsets (with the front panel), and the stage 3 text.
  • model/finish.json: both buttons keep the GLB colours, so the safety colours keep their meaning.
• scripts/check_roadmap.py: new rules. Each was checked against the previous files (5 errors):
  • a component and its GLB node must agree on placeholder;
  • chassisFittings must not use the E-stop or RESET materials (mats.red, mats.yellow, mats.resetLit), and resetLit must not be defined;
  • robot.html buildTotes must not add geometry outside the totes (no (this.g, calls, no aluDark).
• scripts/render_store.js: usage line names the rear camera.
• Not changed, after checking:
  • docs/assets/simulation/openamrobot2-dark-store-sim.html: its base is drawn from primitives and embeds no base mesh; only the chest E-stop appears.
  • docs/assets/hardware/openamrobot2-general-arrangement.html: a hand-drawn SVG with balloon 9 "Base E-stop and start button, front panel", no mesh.

Robot page stills

Made with node scripts/render_store.js 1280 720 --still 0 --cam front|rear --out <file> and saved in evidence/2026-10-28-base-estop-reset/ (palette-reduced PNG, under 1 MB).

Still	Before (07452eb)	After (dec6774)
Front	E-stop twice (the GLB one at the lower front left and the illustrative yellow box with red head high on the front panel); RESET at the lower front right; dark rail bars on the cover beside both totes	Exactly one E-stop (red, lower front left) and one RESET (blue, lower front right), both from the GLB; chest E-stop on the profile unchanged
Rear	Illustrative RESET (blue) on the rear deck; rail bars on the cover	No RESET on the rear deck; no bars on the cover

Build result

Base SHA 8c9116085d9f1a2f0c8bad20596f7a5330063251, head SHA dec67747d2f98c7b17a2a938c9d93bc3433e0d0e.

Command	Result
python3 scripts/check_roadmap.py	Passed: 6 pages
Negative check: the same checker on the previous model.js and robot.html	5 errors, as intended
bash scripts/check_docs.sh	Passed, 0 warnings
mkdocs build --strict (requirements.txt)	Exit 0, 0 warnings or errors
Offline link check of the built site	32,926 local links, 0 broken

Browser runs of exploded.html, the dark-store simulation and the general arrangement (Playwright, SwiftShader, built site, 1280 px) showed 0 console errors. On robot.html, an interactive screenshot times out under software WebGL, on main as well, so the page is verified with the render-mode stills above.

Not verified

• Placeholder geometry: it is not the Schneider models. Head protrusion and body depth come from #100's placeholders; see the Nav2 footprint finding there. The footprint is unchanged here.
• Media from earlier PRs: the robot page's store video and pictures (roadmap: no LED strips on the robot, re-rendered tour, store video and pictures in the new look #59) and the exploded-view tour videos predate these changes. They still show the old fittings and tote rails, or no base buttons. They are not re-rendered in this PR.
• Live page and real GPU: checked after merge.

Intellectual property and provenance

• Every commit is signed off (DCO) with the configured identity.
• Contributor agreement and authorization: for the maintainer to confirm.
• No third-party content added; the geometry comes from the openamr-platform-sw converter (generated boxes and cylinders).
• No confidential, personal or credential content.

AI disclosure

Claude Code ran the openamr-platform-sw converter at the PR #100 head. It also wrote the docs changes above:

• GLB embed, registry entries, placeholder badge and card text, callout anchor, exploded offsets and finish list;
• removal of the duplicate fittings and the tote rails, the limits sentence and the rear render camera;
• the checker rules, the before and after stills and this description.

It made no change to the Nav2 footprint or to any safety logic.

🤖 Generated with Claude Code

https://claude.ai/code/session_01CbdEKoRknKntfTStGVniSo