[BotshareAI]

Summary

Upper-body layout of 28 Oct 2026 (P-03 rev20.0 items 15, 17, 18 and 24) on the shared roadmap model: second E-stop on the rear face of the static lift profile, head light and landscape Getac ZX80 on the moving chest, head camera 20 mm forward at the hp30 baseline; lift stop sensor set (LIFT-SNS-01 rev 1, BOM Issue 7.14 LFT-001, LFT-003 to LFT-006); one model on both pages, enforced by a synchronization audit; tote riser on the robot page; all pictures and videos re-rendered, store video at 4x. Positions are placeholders until work package M-09. Supersedes #61.

Base cab5ed5 (main, includes #63). Head e8fbeff. Merge of main: 52fc1a1 merges origin/main (#63); docs/reference/openamrobot-2/index.md, general-arrangement.md and dark-store-simulation.md resolved in favour of main; check_roadmap.py, mkdocs build --strict and check_docs.sh pass after the merge.

Sources

• P-03 Decision Addendum rev20.0, read through the Google Drive connector on 28 Oct 2026: layout update of 28 Oct (second E-stop on the rear face of the static DOLD profile, close to its upper edge; moving chest bottom up head light, top edge 30 mm below the Getac, then the Getac ZX80, 234 mm wide x 149.8 mm tall x 17.6 mm, landscape, 50 mm higher than before; lens 42 mm ahead of the shoulder; baseline pitch hp30, was hp25); item 24 (lift stop sensors at z 120, 295 and 470 mm above the column base, flag 410 mm below the plate underside, 2 mm gap; head light Falcon FLDL-i150x15-W 158 x 17 x 20 mm); item 18 (adapter plate 360 x 100 mm).
• Drawing LIFT-SNS-01 rev 1 (27 Oct 2026, read through the Google Drive connector): View 1 side elevation, View 2 section at a sensor (axis 15 mm from the face, flag 2 mm in front, rod 9 mm beside the sensor), COTS list.
• BOM Issue 7.14: LFT-001 to LFT-007, SAF-001.
• Pending with their owners (not changed here): BOM Issue 7.14 UI-001 and UI-002 still name the ZX10; register CONFIG-IDS gives hp25; the platform-sw URDF has the lens at 22 mm and hp25. The Falcon technical data page is not reachable from this environment (dimensions as quoted in P-03).

Changes

• One robot on both pages: chestPlaceholders removed; robot.html builds with {fittings, headPitch: 30}, exploded.html with {headPitch: 30}; only page scene items that are not registry parts (store, totes, riser, decals, lift cable, wrist cameras) differ.
• Second E-stop (second_estop): rear face of the static profile, facing rearward, centre 40 mm below its upper edge (P-03 position). Height sweep: the full order run is first clear of every arm link and carried item at a centre 180 mm below the edge, over the 100 mm limit, so the P-03 position is kept; recorded in the registry, the evidence and here as input for M-09.
• Moving chest: head light (top edge 30 mm below the Getac bottom edge), Getac ZX80 landscape box, dock not drawn, Placeholder badges.
• Head camera: lens 42 mm ahead of the shoulder; hp30 default on robot.html (state, slider, readout, configuration table) and in the exploded build; hp15 to hp35 unchanged. Finding: robot.html used to build the model at 0 degrees and never applied hp25 at load.
• Lift stop sensor set (LFT-001, LFT-003 to LFT-006): three SICK IME12-04BNSZC0S on BEF-WN-M12 brackets at 120, 295 and 470 mm above the column base (static group); MISUMI 20 x 20 rod 430 mm with corner bracket, SS400 flag 45 x 20 x 2 centred 410 mm below the plate underside, 2 mm gap, rod 9 mm beside the sensors (moving group). LIFT-SNS-01 shows an end face without naming the end and its 60 mm plate overhang matches neither end of option B; the rear face carries the second E-stop at the S3 height. The set is therefore on the left side face (+y), placeholder until M-09. Registry entries with sources, exploded-view stage 7 offsets and labels, one tour beat at 46 to 48 s (the tour had no lift beat; it stays 49.5 s). Finding for M-01 and M-09: with the 100 mm plate (20 mm side overhang) the rod, 30 to 50 mm from the face, sits 10 to 30 mm outside the plate edge; the M5 fixing through the plate needs the plate over the rod.
• Visible defects fixed (before/after crops in the evidence): the lift cable ran through the second E-stop housing (rear drop rerouted to the -y side); the adapter plate was 72 mm wide, P-03 item 18 gives 100 mm. No other visible defect in the review stills of both pages (front, rear, side, top; close-ups of base, column, chest, head).
• check_roadmap.py: sync audit current and without mismatch; build options; second E-stop once in the static group on the rear face; chest order and the 30 mm gap; ZX80 landscape size, no ZX10, "portrait" or chest_estop; hp30 and the 42 mm lens; LFT parts with BOM IDs; the flag faces S1, S2 and S3 at L1000, L1175 and L1350; the store video text against the file. Each new rule fails when its change is reverted.

Synchronization audit

node scripts/audit_sync.js (robot page at L1000, bp000, hp30, arms at the assembled pose; exploded view at explode factor 0, largest part offset from home 0 m): 63 part groups, 0 mismatches. Offsets per part are in scripts/sync_audit.json.

Registry part	Part group	robot.html	exploded.html	Stage	Meshes	Same transform
base_plate	base_plate	yes	yes	1	1 / 1	yes
front_panel	front_panel	yes	yes	1	1 / 1	yes
rear_panel	rear_panel	yes	yes	1	1 / 1	yes
side_panel	side_panel_left	yes	yes	1	1 / 1	yes
side_panel	side_panel_right	yes	yes	1	1 / 1	yes
support	support_front_left	yes	yes	1	1 / 1	yes
support	support_front_right	yes	yes	1	1 / 1	yes
support	support_rear_left	yes	yes	1	1 / 1	yes
support	support_rear_right	yes	yes	1	1 / 1	yes
centre_bracket	centre_bracket	yes	yes	1	1 / 1	yes
hub_motor_wheel	hub_motor_wheel_left	yes	yes	2	1 / 1	yes
hub_motor_wheel	hub_motor_wheel_right	yes	yes	2	1 / 1	yes
castor	castor_front_left	yes	yes	2	2 / 2	yes
castor	castor_front_right	yes	yes	2	2 / 2	yes
castor	castor_rear_left	yes	yes	2	2 / 2	yes
castor	castor_rear_right	yes	yes	2	2 / 2	yes
motor_driver	motor_driver	yes	yes	2	3 / 3	yes
driver_mount	driver_mount	yes	yes	2	1 / 1	yes
battery	battery	yes	yes	3	3 / 3	yes
estop	estop	yes	yes	3	3 / 3	yes
reset_button	reset_button	yes	yes	3	3 / 3	yes
electronics_bracket	electronics_bracket	yes	yes	4	1 / 1	yes
compute	compute	yes	yes	4	4 / 4	yes
controller_plate	controller_plate	yes	yes	4	1 / 1	yes
base_controller	base_controller	yes	yes	4	3 / 3	yes
imu	imu	yes	yes	4	2 / 2	yes
lidar_support	lidar_support	yes	yes	5	1 / 1	yes
lidar_spacer	lidar_spacer	yes	yes	5	1 / 1	yes
lidar	lidar	yes	yes	5	3 / 3	yes
camera_mount	camera_mount	yes	yes	5	1 / 1	yes
base_camera	base_camera	yes	yes	5	3 / 3	yes
ultrasonic_mount	ultrasonic_mount_front_left	yes	yes	5	1 / 1	yes
ultrasonic_mount	ultrasonic_mount_front_right	yes	yes	5	1 / 1	yes
ultrasonic_mount	ultrasonic_mount_rear_left	yes	yes	5	1 / 1	yes
ultrasonic_mount	ultrasonic_mount_rear_right	yes	yes	5	1 / 1	yes
ultrasonic	ultrasonic_front_left	yes	yes	5	4 / 4	yes
ultrasonic	ultrasonic_front_right	yes	yes	5	4 / 4	yes
ultrasonic	ultrasonic_rear_left	yes	yes	5	4 / 4	yes
ultrasonic	ultrasonic_rear_right	yes	yes	5	4 / 4	yes
tof_mount	tof_mount_front	yes	yes	5	1 / 1	yes
tof_mount	tof_mount_rear	yes	yes	5	1 / 1	yes
tof	tof_front	yes	yes	5	2 / 2	yes
tof	tof_rear	yes	yes	5	2 / 2	yes
cover	cover	yes	yes	6	1 / 1	yes
cover_flange	cover_flange_front	yes	yes	6	1 / 1	yes
cover_flange	cover_flange_rear	yes	yes	6	1 / 1	yes
lift_base_plate	lift_base_plate	yes	yes	7	1 / 1	yes
lift_column	lift_column	yes	yes	7	18 / 18	yes
adapter_plate	adapter_plate	yes	yes	7	1 / 1	yes
arm_profile	arm_profile	yes	yes	8	11 / 11	yes
slot_cover_strips	slot_cover_strips	yes	yes	8	2 / 2	yes
openarm	openarm_left	yes	yes	8	10 / 10	yes
openarm	openarm_right	yes	yes	8	10 / 10	yes
head_camera_bracket	head_camera_bracket	yes	yes	8	2 / 2	yes
head_camera	head_camera	yes	yes	8	3 / 3	yes
second_estop	second_estop	yes	yes	7	3 / 3	yes
getac_tablet	getac_tablet	yes	yes	8	2 / 2	yes
head_light	head_light	yes	yes	8	2 / 2	yes
lift_stop_sensors	lift_stop_sensors	yes	yes	7	12 / 12	yes
lift_sensor_brackets	lift_sensor_brackets	yes	yes	7	6 / 6	yes
flag_rod	flag_rod	yes	yes	7	3 / 3	yes
rod_corner_bracket	rod_corner_bracket	yes	yes	7	2 / 2	yes
lift_flag	lift_flag	yes	yes	7	1 / 1	yes

Collision report (nothing moved)

Full order run, speed 4, 24 fps, 1536 frames, every 10th frame (154 samples), robot-frame boxes; movers: every arm link of both arms and the carried item. 37 overlaps in 20 frames: Getac 23, corner bracket 3, second E-stop 2, flag rod 2, sensor S3 2, bracket S3 2, head light 2, head camera 1. Lift parts against the scene: sensors S1 and S2 overlap the left tote body in every frame (3.2 mm in y); rod, flag, brackets and S3 clear of totes, risers and the lift cable. Full lists and the E-stop sweep table: evidence/2026-10-28-chest-riser-rerender/README.md, collision.json.

Geometry diff

Against main 7ac6543: robot page 186 meshes identical, 10 removed, 55 added; exploded build 132 identical, 6 removed, 37 added. Against c646911: robot page 211 identical, 2 replaced (adapter plate, lift cable), 28 added (Getac and head light now drawn on the robot page, sensor set); exploded build 144 identical, adapter plate replaced, sensor set added. geometry_diff.txt.

Media

All rendered from 654c1ed (scene identical at the head; later commits change page text and evidence only).

File	Size	Video	sha256 (first 16)
media/openamrobot-2-store-1080p.mp4	14,076,327 bytes	1920 x 1080, 24 fps, 1536 frames, 64.0 s, H.264, no audio, 4x speed, two-pass to 14.5 MB	beb2e19eed5f1be9
media/openamrobot-2-tour-1080p.mp4	9,856,115 bytes	1920 x 1080, 30 fps, 49.5 s; two renders byte-identical	2c123ad63e2a6843
media/openamrobot-2-tour-1080x1350.mp4	8,517,327 bytes	1080 x 1350, 30 fps, 49.5 s	10cc7284bcec1077
media/openamrobot-2-store-1080p-poster.png	479,430 bytes	frame 788, 192 colours	c26cb7a559ff633c
media/store/thumbs/store_video_poster.jpg	59,451 bytes	640 x 360	2b6d5de40f8e031f
media/openamrobot-2-tour-1080p-poster.png, -1080x1350-poster.png	165,641 / 138,994 bytes	frame 780	7606421871a59aab / 4c15d77ba3bb73b3
model/exploded-static.png	59,555 bytes	960 x 720, 128 colours	ad781e85a39bff07
media/store/*.jpg (8 pictures, contact sheet), thumbs/	3,388,078 / 492,856 bytes	1920 x 1080 and 1080 x 1350	store_media/media_sha256.txt

Caption on store video frames: "OpenAMRobot 2.0, simulation visualization, 4x speed". The text under the video states 64.0 s, 14.1 MB and 4x speed; check_roadmap.py checks it against the file. Determinism: first 60 frames identical with 1 and 2 workers (14 min 50 s, 13 min 39 s). Store video wall time 23:05 to 06:40 UTC including two container restarts (resumed from saved frames; last segment 299 frames in 2904 s plus the encode). Five sample frames (10 to 90 %), two tour frames and the render log: store_media/.

Checks

Commands at the head, from the repository root, docs/assets/roadmap served on port 8765:

• python3 scripts/check_roadmap.py: passed (6 pages).
• mkdocs build --strict: exit 0. bash scripts/check_docs.sh: 0 warnings. Offline link check of the built site: 32,926 local links, 0 broken.
• node scripts/audit_sync.js: 63 part groups, 0 mismatches.
• node evidence/2026-10-28-chest-riser-rerender/collision_check.js collision.json: results above.
• node evidence/2026-10-27-store-media/page_checks.js against main: robot.html and exploded.html at 375 and 1280 px without console errors, warnings or failed requests, no horizontal scroll; robot.html defaults unchanged (Follow, Frames off, Labels off, High quality on at 1280 px, off at 375 px as on main); first load 4,195,668 bytes (main 4,179,171, budget 4,195,678); Record order video starts and stops.
• Stills at 1280 x 720 (robot front, rear, overview; exploded front and rear three-quarter; column top at L1000 and L1350; fix crops): evidence/2026-10-28-chest-riser-rerender/.

Not verified

• Second E-stop, tablet, head light and lift sensor set positions: placeholders until work package M-09; the collision report and the E-stop sweep are inputs, not a design check.
• Lift sensor face: LIFT-SNS-01 names no end face; the left side face is a choice made here. The rod against the 20 mm plate overhang is unresolved (M-01, M-09).
• Collision boxes are axis-aligned bounding boxes; an overlap marks possible contact, not proven mesh contact. Arms and pick logic were not changed.
• Real GPU playback of the pages and videos (rendered and checked with SwiftShader only).
• Physical robot appearance; the riser is an illustration, not a BOM part.
• BOM UI-001/UI-002, register hp25 and the platform-sw URDF are not updated here (pending with their owners).

AI disclosure

Claude Code (agent) produced the model, page, script and checker changes, the renders, the audit, the collision and geometry reports, the evidence and this description; sources read through the Google Drive connector. Simulation visualization only; no safety logic was authored or modified (E-stops and sensors are drawn geometry).

🤖 Generated with Claude Code

https://claude.ai/code/session_01CbdEKoRknKntfTStGVniSo

[BotshareAI]

Status at 654c1ed (layout of 28 Oct complete; merge of main #63 in 52fc1a1). The full media job started from 654c1ed at 21:11 UTC; the description is completed when it finishes.

Done: one model on both pages (chestPlaceholders removed; sync audit 63 part groups, 0 mismatches, enforced by check_roadmap.py); lift stop sensor set LFT-001, LFT-003 to LFT-006 on the left side face of the static profile (LIFT-SNS-01 names no end face), flag faces S1/S2/S3 at L1000/L1175/L1350 (checked); fixes: lift cable ran through the second E-stop (rerouted), adapter plate 72 to 100 mm (P-03 item 18); tour beat for the lift sensors (tour stays 49.5 s).

Stills: robot front, robot rear, robot overview, exploded front, exploded rear, column top L1000, column top L1350, fixes: cable, adapter plate.

Collision summary (full order run, every 10th frame, 154 samples, robot-frame boxes, arms and pick logic unchanged): 37 overlaps in 20 frames with arm links and carried items: Getac 23, second E-stop 2, flag rod 2, corner bracket 3, sensor S3 2, bracket S3 2, head light 2, head camera 1. Lift parts vs scene: sensors S1 and S2 overlap the left tote body in every frame (3.2 mm in y); rod, flag, brackets and S3 clear of totes, risers and cable. Second E-stop sweep: first clear at a centre 180 mm below the static top (over the 100 mm limit), so the P-03 position (40 mm) is kept and recorded for M-09. Full lists: evidence/2026-10-28-chest-riser-rerender/README.md.

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