OpenAMRobot 2.0: where we are and what is next

runtime: works in simulation with fixture runtime evidence (rounded) · physical: none recorded physical acceptance (box)

A. Where we are

What this shows: every part of the 2.0 system with its delivery status, runtime evidence and physical acceptance, and a one-line state.

How to read it: each box has a coloured left bar, a status chip with an icon and the status in words; rounded pills are runtime evidence, pointed boxes are physical acceptance; the legend buttons highlight every item with that status; a red triangle marks the critical path to rc.1, two rings mark the base design shared with release 001; select a block to open its detail.

25 items
OpenAMRobot 2.0 system map, 24 Oct 2026HardwareBase and drive2 x ZLLG80ASM250-L-B, ZLAC8015DV4.2 (BOM 7.10); drive track openPower and batteryShared base (P-03 rev19.7 item 23);8S1P LiFePO4 105 AhSafety chainPNOZ s3 and 2 x GX11CAC; BUY-32blocked on quotesChargingWCM-500-24 on both robots (P-03rev19.7 item 23, BOM 7.10)LiftDOLD Hexalift V4 350; planned jointdue 13 Nov (#17)ArmsTwo OpenArm 2.0; planning on mockhardware onlySensorsFrames on main; ToF pitch and xdrift (PR #93 draft)ComputeJetson Orin NX 16 GB on J401;release 001 runs a Pi 5FirmwareRelease 001 and Gate A (Teensy)Gate A 30 Oct; pid.h missing, notrebuildable from repo2.0 base controller (STM32)CubeMX project platform-fw #22 inreview; go/no-go 6 NovSafety state machineIssue #17 not started; still namesLEV100H contactorsLift interfaceCAN-to-lift part TBD; liftinterlock #20 due 13 NovROS 2 platformNavigationSim body filter removes the robotfront (#74, due 6 Nov)DockingDocking publishes /cmd_vel on main;#35 due 30 OctReactive motion layer andarbitrationtwist_mux PR #90: changesrequested, sign-off missingUpper body and manipulationCombined model and MoveItPR #14 draft, changes requested(NaN joint samples)Device packagesPR #20 ready, 99/99 tests; configdefect, sign-off missingOperator UIOperator UI command pathOnly the Stop (software) label onmain (#38)UI command path hardeningSecurity hardening in progress (#31to #37)Interfaces and contractsNavigation health contractVersion 1 on main; version 2 in#28; three pinsSiteConfigStatus (version 2)interfaces #28 approved, sign-offmissing; sw #73 changesEmbodied AI and data captureCapture schema (C9)26/26 metadata checks; interfaces#18 acceptance openLearning baselineScaffold on main; no capturesession, no trained policyRelease and docsrc.1 from pinned SHAsrelease #12 pins 14 sources,manifest #17 pins 11Decisions registerContent at P-03 rev19.7; labelstill rev19.6 (drift 1)
OpenAMRobot 2.0 system map, 24 Oct 2026HardwareBase and drive2 x ZLLG80ASM250-L-B, ZLAC8015D V4.2(BOM 7.10); drive track openPower and batteryShared base (P-03 rev19.7 item 23);8S1P LiFePO4 105 AhSafety chainPNOZ s3 and 2 x GX11CAC; BUY-32blocked on quotesChargingWCM-500-24 on both robots (P-03rev19.7 item 23, BOM 7.10)LiftDOLD Hexalift V4 350; planned jointdue 13 Nov (#17)ArmsTwo OpenArm 2.0; planning on mockhardware onlySensorsFrames on main; ToF pitch and x drift(PR #93 draft)ComputeJetson Orin NX 16 GB on J401; release001 runs a Pi 5FirmwareRelease 001 and Gate A (Teensy)Gate A 30 Oct; pid.h missing, notrebuildable from repo2.0 base controller (STM32)CubeMX project platform-fw #22 inreview; go/no-go 6 NovSafety state machineIssue #17 not started; still namesLEV100H contactorsLift interfaceCAN-to-lift part TBD; lift interlock#20 due 13 NovROS 2 platformNavigationSim body filter removes the robotfront (#74, due 6 Nov)DockingDocking publishes /cmd_vel on main;#35 due 30 OctReactive motion layer andarbitrationtwist_mux PR #90: changes requested,sign-off missingUpper body and manipulationCombined model and MoveItPR #14 draft, changes requested (NaNjoint samples)Device packagesPR #20 ready, 99/99 tests; configdefect, sign-off missingOperator UIOperator UI command pathOnly the Stop (software) label on main(#38)UI command path hardeningSecurity hardening in progress (#31 to#37)Interfaces and contractsNavigation health contractVersion 1 on main; version 2 in #28;three pinsSiteConfigStatus (version 2)interfaces #28 approved, sign-offmissing; sw #73 changesEmbodied AI and data captureCapture schema (C9)26/26 metadata checks; interfaces #18acceptance openLearning baselineScaffold on main; no capture session,no trained policyRelease and docsrc.1 from pinned SHAsrelease #12 pins 14 sources, manifest#17 pins 11Decisions registerContent at P-03 rev19.7; label stillrev19.6 (drift 1)

Source: this roadmap's progress, robot, hardware and architecture pages (each block links to its evidence); GitHub state and audit pass 2 · 24 Oct 2026

B. What is next

What this shows: the work per area from today to v2.0.0 on 18 Dec, with the milestones and the dependencies between items.

How to read it: time runs left to right; solid bars and solid milestone lines are confirmed dates and name their source (P-02 rev19.2, the register, P-03 or an issue body), dashed bars are proposed targets from audit pass 2; items with no date in any source start today and end open (double chevron); a red triangle and red outline mark the critical path to rc.1, and dotted red arrows show which items feed rc.1; each box has a coloured left bar, a status chip with an icon and the status in words.

23 items

Scroll sideways inside the diagram.

From today to v2.0.0, by area24 Oct02 Nov09 Nov16 Nov23 Nov30 Nov07 Dec14 DecIntegration, testing, acceptance (P-03)Gate A, electrical/safety release (P-02)I8 freeze, STM32 go/no-go (P-02)Gate B regression (P-02)rc.1 (register)v2.0.0 (register)Navigation and reactive motion layerowner @skunal3318 (navigation lead)Command arbitration (#35 via PR #90) · due 30 Oct (issue #35)Main navigating in simulation (body filter, #74) · due 6 Nov (issue #74)Reactive motion layer lifecycle · proposed 13 Nov (audit pass 2)Recovery behaviour tree (PRs #91, #92) (no date set)Hold at zero across E-stop and RESET (AR-05) (no date set)Dockingowner @fridayali (docking and robot description)Docking through the chain (#35) · due 30 Oct (issue #35)Node clock, cancellable undock, camera (#53) · proposed 13 Nov (audit pass 2)Operator UIowner @parthkeshari (UI lead)Gate A UI scope (stop label merged, stop lock in #90) · due 30 Oct (P-02 rev19.2)UI input into arbitration (/ui/cmd_vel, #90) · proposed 6 Nov (audit pass 2)Security hardening (ui #31 to #37) · proposed 13 Nov (audit pass 2)Firmware and base controllerowner @Evans-Kwashie (electrical and firmware lead)Gate A on Jetson and Teensy · due 30 Oct (P-02 rev19.2)I8 freeze and STM32 go/no-go (fallback Teensy) · due 6 Nov (P-02 rev19.2)STM32 Gate B regression · due 20 Nov (P-02 rev19.2)Lift interlock (#20) and micro-ROS transport (#21) · due 13 Nov (issues #20, #21)STM32 CubeMX project (platform-fw #22) (no date set)Shared base hardwareowner @Evans-Kwashie (electrical and firmware lead)Electrical and safety release · due 30 Oct (P-02 rev19.2)Contactor procurement (BUY-32, blocked on quotes) (no date set)Shared base built and bench tested on release 001 (no date set)Upper bodyowner @Tushargoel230 (upper-body model)Combined model review (PR #14) (no date set)Lift as planned joint, joint clamp default (#17, #18) · due 13 Nov (issues #17, #18)Manipulationowner @Brinex45 (manipulation code owner)Device package (manipulation #20) (no date set)Base and arm motion exclusion (manipulation #24) · due 13 Nov (issue #24)Releaseowner @KARTHIKEYAN124 (release lead)rc.1 from pinned SHAs (release #12, manifest #17, #18) · due 20 Nov (register)confirmed date (source named)proposed target or no date setopen end: no end date in any sourcecritical path to rc.1 (red outline)feeds the milestone

Source: P-02 rev19.2 (Gate A and electrical/safety release 30 Oct, I8 freeze and STM32 go/no-go 6 Nov, Gate B 13 to 20 Nov), the decisions register (rc.1 20 Nov, v2.0.0 18 Dec), P-03 rev19.7 item 12 (integration window 23 Nov to 18 Dec), issue bodies for issue due dates (no repository uses GitHub milestones), audit pass 2 top 20 actions (proposed dates) · 24 Oct 2026

C. One base, two robots

What this shows: the base electrical design that release 001 and 2.0 are to share (recorded in the register and P-03 rev19.7 item 23, not built), and the intended controller and sensor differences.

How to read it: the centre box is the shared core (recorded, not built); each row says whether test evidence from release 001 carries over to 2.0; the side boxes are the intended differences. Details and the equivalence table are on the hardware page.

One base, two robots: the target shared core and the intended differencesShared core (P-03 rev19.7 item 23; register SHARED-BASE, .github #55)Safety chainevidence carries over: partlyChargingevidence carries over: partlyE-stop wiring and logicevidence carries over: partlyPower distribution, battery and related protectionevidence carries over: partlyProximity sensing (integration, mounting and wiring approach)evidence carries over: noRelease 001 planned build:controller and sensorsBase controller: Teensy 4.0Proximity sensor types: ultrasonicJSN-SR04T and 4 x IR E18-D80NKOpenAMRobot 2.0: controller andsensorsBase controller: STM32H723ZGProximity sensor types: 4 x MB7060ultrasonic and 2 x TF-Luna ToF (BOM7.10)
One base, two robotsSafety chainevidence carries over to 2.0: partlyChargingevidence carries over to 2.0: partlyE-stop wiring and logicevidence carries over to 2.0: partlyPower distribution, battery andrelated protectionevidence carries over to 2.0: partlyProximity sensing (integration,mounting and wiring approach)evidence carries over to 2.0: noRelease 001 planned build:controller and sensorsBase controller: Teensy 4.0Proximity sensor types: ultrasonicJSN-SR04T and 4 x IR E18-D80NKOpenAMRobot 2.0: controller andsensorsBase controller: STM32H723ZGProximity sensor types: 4 x MB7060ultrasonic and 2 x TF-Luna ToF (BOM 7.10)

Source: project-lead decision of 19 Oct 2026 by @BotshareAI (project lead), recorded in P-03 rev19.7 item 23 (20 Oct) and decisions.yaml SHARED-BASE (.github #55, 1c3f516); WCM-500-24 on both robots added 20 Oct; equivalence table on the hardware page · 24 Oct 2026

D. What to do next

The first 10 of 35 steps of the proposed sequence. Full action plan.

  1. 1. Fix the simulation LiDAR body filter on main with a URDF-derived test so navigation evidence on main becomes valid. critical path
    @skunal3318 (navigation lead) · NOT STARTED · due 6 Nov 2026 confirmed (platform-sw #74 issue body)
  2. 2. Get a firm quote with delivery date for the GX11CAC K1/K2 contactors, or approve an alternative, and close the BUY-32 datasheet checks. critical path
    @Evans-Kwashie (electrical and firmware lead) · BLOCKED · due none in any source
  3. 3. Resolve the open shared-base differences (second E-stop, battery pack, encoder supply, release 001 sensor list) so Sheet A, Sheet B and the wire list describe one shared base. critical path
    @Evans-Kwashie (electrical and firmware lead); decisions @BotshareAI (project lead) · IN PROGRESS · due none in any source
  4. 4. Record the shared-base direction in decisions.yaml through a contract change request.
    @BotshareAI (project lead) · MERGED AND TESTED · due none in any source
  5. 5. Ship the Gate A UI scope: Stop (software) label, software stop lock, basic command routing and stop tests.
    @parthkeshari (UI lead); reviewers @panthera-momagdii (tech lead, UI reviewer) and UI reviewer (GitHub handle to be confirmed); simulation checks @nikgolobo (simulation checks) · IN PROGRESS · due 30 Oct 2026 confirmed (P-02 rev19.2 Gate A date; UI scope agreed in coordination, not yet in a plan)
  6. 6. Define the twist_mux input topics, priorities and timeouts for #35 option (b) in a contract change request. critical path
    @skunal3318 (navigation lead) · IN PROGRESS · due 30 Oct 2026 confirmed (platform-sw #35 issue body)
  7. 7. Pass Gate A on the Jetson with the existing Teensy and drivetrain.
    @Evans-Kwashie (electrical and firmware lead) · MERGED UNTESTED · due 30 Oct 2026 confirmed (P-02 rev19.2 Gate A, Jetson and Teensy)
  8. 8. Implement the LOCKED/RUN safety state machine on the Teensy and clear its verify-before-sending list. critical path
    @Evans-Kwashie (electrical and firmware lead) · NOT STARTED · due none in any source
  9. 9. Build the release 001 shared base where parts allow and bench test it. critical path
    @Evans-Kwashie (electrical and firmware lead); @ArkaStark (bench and integration) · NOT STARTED · due none in any source
  10. 10. Route UI teleop, blocks and voice actions into an arbitrated twist_mux input; the browser never publishes /cmd_vel. critical path
    @parthkeshari (UI lead) · IN REVIEW · due 6 Nov 2026 proposed (audit pass 2 action 1)

How to read this

runtime: works in simulation with fixture runtime evidence (rounded) · physical: none recorded physical acceptance (box)