[BotshareAI]

Summary

Brings every remaining text consumer in openamrobot-docs in line with the upper-body decisions of 28 Oct 2026: the OpenAMRobot 2.0 reference pages, the BOM Issue 7 diagram (superseded note), the roadmap hardware and progress pages (text and embedded data only) and the dark-store pick simulation (source and the page rebuilt with the tool's own build). Getac ZX80 chest tablet, Falcon FLDL-i150x15-W head light, chest layout, the second E-stop on the rear face of the static lift column, F-PANEL, and the head camera 42 mm ahead with baseline hp30.

Precondition: repository openAMRobot/openamrobot-docs, branch docs/upper-body-2026-10-28, parent 7ac6543 (main), expected outcome: the files below state the rev20.0 values; docs/assets/roadmap/model/, robot.html, exploded.html, exploded.json and media are untouched (PR #62 owns them). This repository has no AGENTS.md (openAMRobot/.github agent-rules/SHARED_RULES.md applies) and no STATE.md.

Source

• P-03 Decision Addendum rev20.0 (27 Oct 2026), read through the Google Drive connector on 28 Oct 2026: the "28 Oct 2026 corrections" line, item 15 (head-camera pitch baseline 30 degrees, raised from 25), item 17 (configuration ID head_pitch hp15 to hp35, baseline hp30 since 28 Oct 2026, was hp25), item 18 (lens 42 mm ahead of, moved 20 mm forward, and 223 mm above the shoulder), item 24 (second E-stop on the rear face of the static DOLD lift profile close to its upper edge; chest layout from the bottom up: head light 30 mm below the Getac; Getac ZX80 8 inch, 234 x 149.8 x 17.6 mm, 590 g, IP67, USB-C PD, landscape like the ZX10 it replaces; Falcon FLDL-i150x15-W head light 158 x 17 x 20 mm, 0.32 A at 24 V, replacing the Banner WLS28; F-PD becomes F-PANEL; chest E-stop is the same Schneider XB4BS8445 with ZBE-102 as the base button and replaces the OpenArm kit button).
• E-01 Safety and Power Distribution Baseline rev1.5 with its 28 Oct 2026 corrections: second E-stop on the rear of the static lift column, wired on the static part outside the lift cable chain; F-PANEL 3 A feeds the Getac USB-PD module and the head light.
• M-01 Mechanical CAD Work Package rev19.6, work package M-09: final chest and E-stop positions (all positions here are placeholders until M-09).

Decision numbers used below: D1 Getac ZX80; D2 Falcon head light, WLS28 dropped; D3 chest layout; D4 second E-stop on the static column; D5 head camera 42 mm and hp30; D6 F-PD is F-PANEL.

Changes (file, old, new)

File	Old	New	Decision
docs/reference/openamrobot-2/general-arrangement.md:26	Head camera ... lens 22 mm ahead of and 223 mm above the arm mount point ... (baseline 25 degrees)	lens 42 mm ahead ... (baseline 30 degrees) (P-03 revision 20.0, 28 October 2026)	D5
general-arrangement.md:29	Electronics: ... the lift carriage carries the arms, head camera and chest E-stop	... carries the arms and the head camera	D4
general-arrangement.md:30 (new row)	none	Chest equipment: from the bottom up head light (158 x 17 x 20 mm, 0.32 A at 24 V), 30 mm gap, Getac ZX80 (8 inch, 234 x 149.8 x 17.6 mm, 590 g, IP67, USB-C PD) landscape; placeholders until M-09; the ZX80 replaces the wider ZX10	D1, D2, D3
general-arrangement.md:31 (new row)	none	Second E-stop: XB4BS8445 with ZBE-102 on the rear face of the static lift column close to its upper edge, wired on the static part outside the lift cable chain; replaces the OpenArm kit button	D4
general-arrangement.md:53	hp15, hp20, hp25 (baseline), hp30, hp35	hp15, hp20, hp25, hp30 (baseline since 28 October 2026, was hp25), hp35	D5
docs/reference/openamrobot-2/index.md:44	Head camera ... lens 22 mm ahead ..., baseline 25 degrees; 9 October 2026, P-03 revision 18.9 item 18	lens 42 mm ahead ..., baseline 30 degrees (hp30); changed 28 October 2026, P-03 revision 20.0 items 15, 17 and 18	D5
index.md:45 (new row)	none	Chest and second E-stop: head light, 30 mm gap, Getac ZX80 landscape (placeholders until M-09); second E-stop XB4BS8445 with ZBE-102 on the static column; F-PANEL feeds the Getac and the head light (P-03 revision 20.0 item 24, E-01 revision 1.5)	D1 to D4, D6
docs/reference/openamrobot-2/hardware-architecture.md:26	Dual-channel E-stops (base and chest)	base front, and the second one on the rear face of the static lift column, both XB4BS8445 with ZBE-102	D4
hardware-architecture.md:34	Operator panel: Getac ZX10 detachable tablet	Getac ZX80 (8 inch, 234 x 149.8 x 17.6 mm, 590 g, IP67, USB-C PD), landscape on the chest; F-PANEL with the Falcon head light below it; the ZX10 is superseded 28 October 2026	D1, D2, D6
docs/reference/openamrobot-2/dark-store-simulation.md:59	the ZED Mini lens is 22 mm ahead of and 223 mm above the arm mount point	42 mm ahead ..., baseline pitch 30 degrees (hp30); the second E-stop is drawn on the rear face of the static lift column	D4, D5
docs/reference/openamrobot-2/mass-and-stability.md:38 (rerun inputs)	head camera 22 mm ahead of and 223 mm above the arm mount point	42 mm ahead (was 22 mm); chest Getac ZX80 (590 g) and head light, second E-stop on the static column	D1, D2, D4, D5
docs/assets/hardware/openamrobot2-hardware-architecture-bom7.html (header)	Issue 7 export with ZX10, ARM-008 kit E-stop, F-PD	new paragraph "Superseded 28 October 2026, P-03 revision 20.0 item 24 and E-01 revision 1.5" listing all six decisions; the Issue 7 rows stay as the record	D1 to D6
docs/assets/roadmap/hardware.html, equivalence table	1 x XB4BS8445 + ZBE-102 at the base front; chest E-stop from the OpenArm kit	2 x XB4BS8445 + ZBE-102: base front, and the second E-stop on the rear face of the static lift column (P-03 rev20.0 item 24; kit button superseded)	D4
hardware.html, E-stop carry-over note	the second E-stop differs (... chest button from the arm kit on 2.0)	differs in position (... on 2.0 the same XB4BS8445 with ZBE-102 on the rear face of the static lift column)	D4
hardware.html, shared-core drawing (wide and narrow)	same part (2.0: chest E-stop from the arm kit)	same part (2.0: XB4BS8445 on the static column)	D4
hardware.html, diagram node, PARTS, blocks table, edge e15, EDGES	ARM-008 Kit E-stop allocated as one of the TWO robot buttons; chest E-stop NC1 / NC2	ARM-008 superseded 28 Oct 2026 as the second robot button; second E-stop (static lift column) NC1 / NC2	D4
hardware.html, UI-001 and UI-002 (node, PARTS, table)	ZX10 exact generation/SKU pending; Matched ZX10 mount	Getac ZX80 (8 inch, 234 x 149.8 x 17.6 mm, 590 g, IP67, USB-C PD), landscape; replaces the ZX10; Matched ZX80 landscape mount (position from M-09)	D1
hardware.html, fuse list, minor-parts table, PARTS key	F-PD 3 A; F-PD; "F-PD": Tablet branch fuse	F-PANEL 3 A (Getac USB-PD module and head light; was F-PD, E-01 rev1.5)	D6
hardware.html, ARM-011 (PARTS and table)	baseline 25; lens 22 mm ahead	baseline 30 (hp30); lens 42 mm ahead	D5
docs/assets/roadmap/progress.html, RQ head camera row evidence	MATCH hp25	MATCH hp25 in the 19 Oct audit; superseded 28 Oct 2026: baseline hp30 (P-03 rev20.0 item 17)	D5
tools/dark-store-sim/src/spec.js:25	ZED_X: 0.202 (22 mm ahead)	ZED_X: 0.222 (42 mm ahead)	D5
tools/dark-store-sim/src/robot.js:59	this.hp = 25	this.hp = 30	D5
robot.js, buildColumn	no E-stop on the column	XB4BS8445 housing and button drawn on the rear face of the static column, 50 mm below its upper edge (placeholder until M-09)	D4
robot.js, carriage	chest E-stop drawn on the moving carriage, comment "chest E-stop"	removed from the carriage; comment points to the static column	D4
robot.js, selfBoxes	'arm profile / chest E-stop'	'arm profile / chest equipment' (same box extent, now the Getac and head light envelope)	D1, D3, D4
tools/dark-store-sim/src/analysis.js	'carriage / chest E-stop'; comment "E-stop"	'carriage / chest equipment'; comment "chest equipment"	D4
tools/dark-store-sim/src/main.js:452	hp-v text 25°	robot.setHeadPitch(30); hp-v text 30°	D5
tools/dark-store-sim/index.tpl.html:172	slider value="25"	value="30"	D5
index.tpl.html:186	The ZED Mini lens is 22 mm ahead of and 223 mm above the arm mount point.	42 mm ahead ..., baseline hp30; second E-stop on the static column; chest head light, 30 mm gap, Getac ZX80 (placeholders until M-09)	D1 to D5
docs/assets/simulation/openamrobot2-dark-store-sim.html	rebuilt	cd tools/dark-store-sim && npm ci && npm run publish	all
CHANGELOG.md	none	2026-10-28 entry	all

Historical text kept: the CHANGELOG entry of 2026-10-11 (22 mm, dated), the BOM Issue 7 rows (under the new superseded note), and evidence/ records of earlier PRs.

Out of scope and owners

openamr-upperbody-sw (owner Tushargoel230, follow-up after openAMRobot/openamr-upperbody-sw#14), main f57e54c:

README.md:33:| Head camera | ZED Mini on the lift carriage, lens 0.022 m ahead of and 0.223 m above the arm mount point, y = 0 |
README.md:36: ... `head_pitch` (`hp15` to `hp35` in 5 degree steps, baseline `hp25`) ...
README.md:62:ros2 launch openamrobot_upperbody_description upperbody_description.launch.py base_plate:=bp050 head_pitch:=hp25
ros2/src/openamrobot_upperbody_description/config/upperbody_configuration.yaml:12:  head_pitch: [hp15, hp20, hp25, hp30, hp35]
ros2/src/openamrobot_upperbody_description/config/upperbody_configuration.yaml:18:  head_pitch: hp25
ros2/src/openamrobot_upperbody_description/config/upperbody_configuration.yaml:45:  hp25: {pitch_down_deg: 25}
ros2/src/openamrobot_upperbody_description/config/upperbody_configuration.yaml:76:    x_ahead_of_arm_mount: 0.022
ros2/src/openamrobot_upperbody_description/test/test_upperbody_configurations.py:37:    assert AXES['head_pitch'] == ['hp15', 'hp20', 'hp25', 'hp30', 'hp35']
ros2/src/openamrobot_upperbody_description/test/test_upperbody_configurations.py:74:        assert abs(cam[0] - (axis_x + 0.180 + 0.022)) < TOL
ros2/src/openamrobot_upperbody_description/test/test_upperbody_configurations.py:85:                               head_pitch='hp25', base_tilt='bt10'))
ros2/src/openamrobot_upperbody_description/test/test_upperbody_configurations.py:95:                                   base_plate=bp, head_pitch='hp25', base_tilt='bt10'))
ros2/src/openamrobot_upperbody_description/test/test_upperbody_configurations.py:111:             'head_pitch': 'hp25', 'base_tilt': 'bt10', axis: value}
ros2/src/openamrobot_upperbody_description/urdf/openamrobot_upperbody.urdf.xacro:17:  <xacro:arg name="head_pitch" default="hp25"/>

Lines 12 and 37 list hp25 as an option and stay; the others need the new baseline and 0.042 m.

• PR roadmap: upper-body layout of 28 Oct (second E-stop on the column, Getac and head light, head camera forward and hp30), lift stop sensors, one model on both pages, all media re-rendered #62 owns docs/assets/roadmap/model/, robot.html, exploded.html, exploded.json and media; any head-camera or E-stop value there is for that PR.
• The register (openAMRobot/.github decisions.yaml): separate PR in progress.
• BOM Issue 7.14 workbook and the Use Case 1 requirements baseline: owner documents, not in git.
• Not part of the six decisions and left as found: the simulation header still cites P-03 rev18.9 and rev19.0; general-arrangement.md:28 and index.md:35 state the battery at 25 percent of the robot length from the rear, which the register check flags (BATTERY-PLACEMENT, also on main).

Checks

Base SHA 7ac6543 (main), head SHA 0d9406d.

$ python3 scripts/check_roadmap.py
Roadmap check passed: 6 pages, snapshot 24 Oct 2026.
exit 0
$ bash scripts/check_docs.sh
Documentation check passed with 0 warning(s).
exit 0
$ mkdocs build --strict (social plugin off, see Not verified)
INFO    -  Documentation built in 8.86 seconds
$ lychee --offline --no-progress --root-dir site site/**/*.html
🔍 30745 Total (in 0s) ✅ 25828 OK 🚫 0 Errors 👻 4917 Excluded

• Reproducible build: main's simulation source rebuilt with npm run build gives a page byte-identical to main's committed page, so the page diff here comes only from this change.
• Simulation page (Playwright, Chromium with SwiftShader): 375 px and 1280 px load with no console errors and no horizontal page scroll; head pitch slider 30, label 30°, configuration line column=dold_v4_350 · base_plate=bp000 · head_pitch=hp30 · base_tilt=bt10 · lift 1000 mm; the second E-stop renders on the rear face of the static column.
• Shared repository-quality text checks from openAMRobot/.github main (68ba70b), scoped to the 15 changed files: check_decisions 2 contradictions (BATTERY-PLACEMENT, lines this PR does not touch) and check_public_extract 72 findings (all in the minified simulation bundle: invented store prices and library strings). Both counts are identical on main at 7ac6543, so this PR adds no finding.

Retired-value search after the change (roadmap model, robot.html, exploded.* owned by PR #62; evidence/, the simulation bundle and the BOM 7 export excluded here and covered above):

$ git grep -n -I -o -E ".{0,70}(ZX10|WLS28|Banner|chest E-stop|chest button|OpenArm kit E-stop|ARM-008|22 mm ahead|0\.022|ZED_X|hp25|baseline 25|F-PD).{0,50}" -- . ':!docs/assets/roadmap/model' ':!docs/assets/roadmap/robot.html' ':!docs/assets/roadmap/exploded.*' ':!evidence' ':!docs/assets/simulation' ':!docs/assets/hardware'
CHANGELOG.md:38:d of the column axis on the HFS6-60120 arm profile, the ZED Mini lens 22 mm ahead of and 223 mm above the arm mount point, and pack
docs/assets/roadmap/hardware.html:180:S8445 plus ZBE-102 (2NC + 1NO), base </text></g><g class="node" id="n-ARM-008" data-id="ARM-008" tabindex="0" role="button" ari
docs/assets/roadmap/hardware.html:180:a-label="ARM-008: Kit E-stop, superseded 28 Oct 2026 as the second
docs/assets/roadmap/hardware.html:180:"1104" y="176" width="442" height="34" rx="5"/><text x="1114" y="198">ARM-008  superseded 28 Oct 2026 as second E-stop</text></
docs/assets/roadmap/hardware.html:180:34 x 149.8 x 17.6 mm, 590 g, IP67, USB-C PD), landscape; replaces the ZX10 (P-03 rev20.0 item 24)</text></g><g class="node" 
docs/assets/roadmap/hardware.html:180:, NC1 / NC2, dual channel</title></g><g class="edge" id="e15" data-a="ARM-008" data-b="SAF-002" data-t="safety"><path d="M1546,
docs/assets/roadmap/hardware.html:180:193.0 C1606,193.0 1606,237.0 1546,237.0" stroke="#ae164d"/><title>ARM-008 to SAF-002: safety, second E-stop (static lift co
docs/assets/roadmap/hardware.html:183:ock: F-SAFE 2 A, F-PANEL 3 A (Getac USB-PD module and head light; was F-PD, E-01 rev1.5), F-HUB 3 A, F-FAN 2 A</p><div class
docs/assets/roadmap/hardware.html:183:td><td class="small">BUY-30: not yet requested</td></tr><tr><td><code>ARM-008</code></td><td>Kit E-stop, superseded 28 Oct 2026
docs/assets/roadmap/hardware.html:183:34 x 149.8 x 17.6 mm, 590 g, IP67, USB-C PD), landscape; replaces the ZX10 (P-03 rev20.0 item 24)</td><td class="small">1</t
docs/assets/roadmap/hardware.html:183:d class="small">ARM-001, ARM-003, ARM-004, ARM-005, ARM-006, ARM-007, ARM-008, ARM-009, ARM-010</td><td class="small">not yet r
docs/assets/roadmap/hardware.html:183: (F-LIFT 15 A) are in E-01 but have no BOM rows; F-SAFE, F-PANEL (was F-PD), F-HUB, F-FAN and the fuse blocks FB-A, FB-B, FB
docs/assets/roadmap/hardware.html:197: - release checks first", "Procurement state": "not yet requested"}, "ARM-008": {"ID": "ARM-008", "Subsystem": "Manipulation", 
docs/assets/roadmap/hardware.html:197:34 x 149.8 x 17.6 mm, 590 g, IP67, USB-C PD), landscape; replaces the ZX10 (P-03 rev20.0 item 24)", "Qty": "1", "Selection s
docs/assets/roadmap/hardware.html:197:ssembly": "Panel branch fuse (Getac USB-PD module and head light; was F-PD, E-01 rev1.5)", "Manufacturer": "COTS / TBD", "Mo
docs/assets/roadmap/hardware.html:197:F-002", "type": "safety", "label": "NC1 / NC2, dual channel"}, {"a": "ARM-008", "b": "SAF-002", "type": "safety", "label": "sec
docs/assets/roadmap/hardware.html:197:power", "PWR-030": "power", "PWR-031": "power", "SAF-001": "safety", "ARM-008": "safety", "SAF-002": "safety", "SAF-003": "safe
docs/assets/roadmap/progress.html:193:plementation": "URDF head_camera_link hp15..hp35", "evidence": "MATCH hp25 in the 19 Oct audit; superseded 28 Oct 2026: base
docs/reference/openamrobot-2/general-arrangement.md:30:9 (P-03 revision 20.0, 28 October 2026) | The ZX80 replaces the wider ZX10, which blocked both arms during picking |
docs/reference/openamrobot-2/general-arrangement.md:53:| Head-camera pitch | `hp15`, `hp20`, `hp25`, `hp30` (baseline since 28 October 2026, was `hp
docs/reference/openamrobot-2/hardware-architecture.md:34:-i150x15-W head light below it (P-03 revision 20.0 item 24; the Getac ZX10 is superseded 28 October 2026) | Non-authoritativ
tools/dark-store-sim/src/products.js:46:06], [0.041, 0.07], [0.0445, 0.08], [0.0445, 0.215], [0.036, 0.255], [0.022, 0.282], [0.0145, 0.292], [0.0145, 0.300], [0, 0.
tools/dark-store-sim/src/products.js:58: 0, 0, 0.195), cap = cyl(0.0125, 0.193, 0.207, 14); cap.translate(0, -0.022, 0);
tools/dark-store-sim/src/products.js:165:v), prof = [[0, 0.001], [0.02, 0], [0.0265, 0.007], [0.0265, 0.124], [0.022, 0.133], [0.021, 0.135], [0, 0.1345]];
tools/dark-store-sim/src/robot.js:71:    rbox(g, L + 0.004, W + 0.004, 0.062, 0.022, MAT.skirt, 0, 0, 0.052 + 0.031);
tools/dark-store-sim/src/robot.js:92:      box(g, 0.008, 0.03, 0.022, MAT.steel, x - 0.012, y, 0.035);
tools/dark-store-sim/src/robot.js:114:    cylAxis(g, 0.02, 0.022, MAT.red, R.X0 + 0.06, -0.21, R.COVER + 0.051, 'z
tools/dark-store-sim/src/robot.js:172:    box(m, 0.03, 0.03, 0.006, MAT.alu, ROBOT.ZED_X - 0.03, 0, ptop + 0.003);
tools/dark-store-sim/src/robot.js:173:    box(m, 0.012, 0.03, lensZ - ptop, MAT.aluDark, ROBOT.ZED_X - 0.03, 0, (ptop + lensZ) / 2);
tools/dark-store-sim/src/robot.js:174:    this.zed = new THREE.Group(); this.zed.position.set(ROBOT.ZED_X, 0, lensZ); m.add(this.zed);
tools/dark-store-sim/src/spec.js:25:  ZED_ABOVE_SH: 0.223, ZED_X: 0.222,              // ZED Mini lens: 223 mm abo
tools/dark-store-sim/src/world.js:226:rd.rotation.set(Math.PI / 2, Math.PI / 2, 0); ord.position.set(T.x0 + 0.022, T.yc, T.h + 0.33); R.add(ord);
tools/dark-store-sim/src/world.js:239:    for (const y of [-0.37, 0, 0.37]) pal.add(boxMesh(1.2, 0.1, 0.022, M.wood, 0, y, 0.133));
tools/dark-store-sim/src/world.js:241:    for (const y of [-0.35, 0, 0.35]) pal.add(boxMesh(1.2, 0.1, 0.022, M.wood, 0, y, 0.033));

Every remaining line is marked historical or superseded 28 Oct 2026, lists hp25 only as an option, is the ZED_X constant (now 0.222), or is unrelated 0.022 m geometry (products, store, chassis skirt and fasteners).

Not verified

• M-09 positions: the chest layout and the second E-stop position (50 mm below the column's upper edge in the simulation) are placeholders until M-01 work package M-09.
• Physical mounts: fit of the Getac ZX80 and head light, E-stop reach on the column, cabling on the static part: no hardware evidence.
• mkdocs build --strict ran with the social-card plugin disabled because fonts.google.com is blocked in this environment; CI runs the full configuration.
• Simulation behaviour: the start now calls robot.setHeadPitch(30), so the drawn camera pitch matches the label (before, the camera was drawn level at start while the label said 25°). The collision analysis is unchanged in extent; its skip rule name ('carriage / chest ...') does not match the self-box name ('arm profile / chest ...'), as on main, and is left as found.
• The register is updated in a separate PR; the register checks above ran against the register on .github main and do not show the new decisions.

AI disclosure

Claude Code (Anthropic) read P-03 rev20.0, E-01 rev1.5 and the M-01 rev19.6 file listing through the Google Drive connector, searched the repository, wrote every changed line in this PR, rebuilt the simulation page with the tool's build, ran the checks listed above and wrote this description. A maintainer reviews and decides adopt, adapt or reject. No E-stop, brake, contactor, watchdog or motor-enable logic is touched: the E-stop changes are descriptive text and a drawn shape in the visualization only.

Documentation architecture

• I identified one primary audience and used the required page frontmatter.
• Exact commands, versions, parameters and contracts remain canonical in the owning repository.
• The page states prerequisites, outcome, verification, likely failures and one next step where applicable. (Not applicable: value updates.)
• Learning and reference content link back to the owning repository, and repository documentation is updated when required.
• Planned or scaffold content is clearly labelled and does not imply validation or readiness.
• I reviewed the Documentation Information Architecture and Engineering Quality Standard.

Intellectual property and provenance

• Every commit is signed off under the OpenAMRobot DCO (git commit -s, configured identity).
• I am covered by an accepted Individual or Corporate Contributor Agreement. (Maintainer to confirm.)
• I have all required employer, university, client, sponsor, co-author, or institutional authorization. (Maintainer to confirm.)
• Third-party and material AI-assisted content is identified with source, licence, modifications, and notices (AI disclosure above).
• No unauthorized confidential, personal, proprietary, credential, or export-controlled information is included.

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Generated by Claude Code

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