Basis and assumptions
Robot frame and heights follow the option B upper-body mounting (P-03 rev18.9 item 18): floor Z = 0, steel deck 294 mm, 2 mm top cover, 10 mm aluminium base plate (top 304 mm) with the column axis 330 mm behind the 780 mm chassis front edge, at x +0.060 m from base_link (bp000) or +0.110 m (bp050) (P-03 rev19.0), Hexalift V4 530 mm retracted and 880 mm extended, 166 mm from the column head plate to the OpenArm J1_A mount. The arms hang on a MISUMI HFS6-60120 arm profile, 340 mm long, standing on a 10 mm adapter plate on the column head; the arm mount point is 180 mm ahead of the column axis, at y ±31 mm (307 mm shoulder spacing). Shoulder 1000 to 1350 mm with calibrated stops L1000, L1175 and L1350. The ZED Mini lens is 22 mm ahead of and 223 mm above the arm mount point.
Base sensors follow P-03 rev19.0: Gemini 336L housing centre 142.5 mm above the floor (base_camera_link 0.376, 0, 0.0445 from base_link, up-tilt bt05, bt10 or bt15); RPLIDAR S3 beam 222 mm above the floor (lidar_link 0.330, 0, 0.124); four MB7060 in the front and rear edge holes and two TF-Luna cliff sensors in the front and rear centre holes, 91.4 mm above the floor.
Visualization only; grocery requirements belong to OpenAMRobot 3.0. The simulation is not a specification or a requirement for OpenAMRobot 2.0.
Hexalift V4 (BS-HM240G350530-MFF24): 800 N push, 18 mm/s, 11.7 kg; moment ratings 1200 / 500 N·m lengthwise and 450 / 225 N·m lateral (static / dynamic). The column is drawn as a 240 × 60 mm profile from the manufacturer's published basic dimension; the outline is approximate until DOLD sends CAD.
OpenArm 2.0 kinematics and meshes come from the official openarm_description URDF. Payload 4.1 kg nominal and 6.0 kg peak including the end effector; the gripper mass of 0.5 kg used to get the net payload is an assumption. Jaws open to 88 mm; 8 mm clearance per side and 12 mm finger thickness are assumed for the neighbour check.
Reach margin is the extra distance the gripper could still travel along the approach direction beyond the grasp point, found with full 7-joint IK at the given stop. The collision screen uses spheres along the arm against shelves, uprights, totes, column and chassis; it ignores neighbouring products. Moments are static (gravity only) at the column foot, with the 5.5 kg arm mass split over the links by assumption.
Totes are 380 × 228 × 200 mm open totes sized to fit beside the column, on a 120 mm riser so both arms reach the tote floor at L1000; neither is a catalogue part. Items go into the tote lying along it and come out onto the 900 mm packing table standing upright. Products, brands and prices are invented for illustration; the store layout is a generic local grocery hub, not a specific operator.
Sources: DOLD Hexalift 800 N shop page, Hexalift datasheet, Hexalift basic dimension 240 × 60 mm, OpenArm 2.0 specifications.