decisions: P-03 rev18.9 lift, arm mount and configuration IDs

[BotshareAI]

Summary

Records the P-03 Decision Addendum revision 18.9 in the decisions register.

Files changed:

• decisions.yaml: in-force source P-03 rev18.9; sources rev18.8, rev18.9 and BOM Issue 7.6 added. BOM-ISSUE-IN-FORCE moves to Issue 7.6. LIFT moves to DOLD Hexalift V4 350 mm on a two-position base plate (bp000, bp050), with checks for Hexalift V1 and five-position wording. New entries ARM-MOUNT and CONFIG-IDS. The MAST-INSTALL-HEIGHT and MAST-TOP-HEIGHT citations are narrowed so current lift text (L1350, the HFS6-60120 arm profile) is not flagged. The DATUM-HEIGHT-STACK base-plate pattern is tightened, and HEAD-CAMERA gains mount and lens values.
• tests/test_check_decisions.py: tests for the new and changed entries (patch supplied by the work-package owner, applied with git apply).
• WATCHDOG.md: accepted-words table regenerated with python3 tools/watchdog.py --accepted-words (no hand edits).
• profile/README.md: the lift line now reads: lift approved in principle, DOLD Hexalift V4 350 mm, shoulder 1000 to 1350 mm, lift base plate centre or +50 mm, arm profile 180 mm ahead of the column axis. The file had no fixed-mast, five-position or Hexalift V1 wording to remove, so the baseline was added to the existing lift line.

Work package

P-03 rev18.9 alignment requested by the work-package owner. No issue number was supplied; a contract change request issue is not linked.

Integration Gate

• Open PRs checked: openAMRobot/.github#41 (CI image), no overlap.
• Reused: existing tools/check_decisions.py and tools/watchdog.py; no checker code changed.
• Companion PRs: openamrobot-manipulation and openamr-upperbody-fw, branch decisions-rev18.9 (docs alignment).

Tests

• New tests: test_bom_issue_7_6_in_force, test_lift_v4_and_two_base_plate_positions, test_arm_mount_and_config_ids, test_hfs6_arm_profile_is_current; test_lift extended.
• Revert run: with decisions.yaml restored from 92e35b0 and the new tests in place, python3 -m unittest tests.test_check_decisions gives Ran 55 tests ... FAILED (failures=4) (the four new tests). With this PR's register: OK.
• Full suite: bash rollout/verify.sh: Ran 239 tests, 0 skipped, OK.

Evidence

Base SHA: 92e35b0
Head SHA: e708c73

git apply rev18.9.patch                       -> applied cleanly (decisions.yaml, tests/test_check_decisions.py)
python3 tools/watchdog.py --accepted-words    -> rc 0; table pasted between the BEGIN/END ACCEPTED WORDS markers
bash rollout/verify.sh                        -> Tests executed: 239 of 239 (skipped 0); PASS: test; PASS: evidence; rc 0
python3 tools/check_decisions.py --decisions decisions.yaml --maintainers maintainers.yaml --validate-only
                                              -> decisions: 29 loaded, 25 recorded and scanned, 1 open, 3 superseded; rc 0
python3 tools/check_agent_rules.py --canonical agent-rules/SHARED_RULES.md --file AGENTS.md -> PASS AGENTS.md (v2)
python3 tools/check_public_extract.py --root . --changed-files <changed files> -> 0 finding(s)

Scans at branch option-b-upperbody-mount (detached worktrees):
python3 tools/check_decisions.py --decisions decisions.yaml --root <openamr-upperbody-sw @ 6707a8780060d61e1bdb75cc8522d749207f1f15> --repository openamr-upperbody-sw
  -> 0 contradiction(s), 0 allowed; 32 file(s) not scanned   (register at 92e35b0: 3 contradictions, all MAST-TOP-HEIGHT)
python3 tools/check_decisions.py --decisions decisions.yaml --root <openamr-upperbody-hw @ 6355bd2fc9817b48376a8db83b4353f5d43c4635> --repository openamr-upperbody-hw
  -> 0 contradiction(s), 0 allowed; 2 file(s) not scanned    (register at 92e35b0: 2 contradictions, all MAST-TOP-HEIGHT)

Dependencies

None.

Safety impact

None. Register text and checker patterns only. The LIFT entry names release gates (DOLD holding on E-stop and power loss) as open; no safety logic is authored or changed.

STATE.md

No change: this repository has no STATE.md, and the task limited the change to the files listed above.

Not verified

• The P-03 rev18.9 and BOM Issue 7.6 values themselves: taken from the supplied patch and task; the source documents were not read.
• The register values are not checked against CAD, the option B drawing set, URDF or hardware. A clean scan shows textual consistency only.
• The generated accepted-words table renders some unless regex fragments literally (for example rev ?18.[1-7]); this is current watchdog.py output, not edited.
• Repositories other than openamr-upperbody-sw and openamr-upperbody-hw (at option-b-upperbody-mount) were not scanned against the new register; companion results are in the two linked docs PRs.
• check_pr_evidence.py was not run against this PR body.
• Owner approval of the register change (platform lead) has not happened.

AI disclosure

Claude Code (Anthropic) applied the supplied patch, regenerated the WATCHDOG.md table with the repository tool, edited the profile/README.md line, ran the checks above and drafted this description. The patch content was supplied by the work-package owner. Needs human review.

Contribution terms

• Every commit is signed off under the DCO.
• I am covered by an accepted Contributor Agreement. (to be confirmed by the author)
• Third-party material is identified with source and licence.
• No confidential, personal, credential or export-controlled information is included.
• No partner, customer or private person is named; the application is Use_Case_1.

🤖 Generated with Claude Code

https://claude.ai/code/session_01E4uoP2BE9MeeJDGK9EYzqD

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