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ESC demo: Fable placement redone with the molecule interface fixed; Astra prompt updated

John Lauer ·723663dc2c ·24d ago ·parent b958e26

8 files changed +22488−766

demo/placement/fable/esc-placement-plan.json+618−697 demo/placement/fable/fable-stats.json+25−22 demo/placement/fable/fable2-place-log.json+15457 demo/placement/fable/plan-preview.pngdemo/placement/fable/plan_placement.py+22−35 demo/placement/fable/state-clean.json+6352 docs/esc-demo.md+12−10 docs/esc-placement-astra-prompt.md+2−2

demo/placement/fable/esc-placement-plan.json+618−697

@@ -6,347 +6,460 @@    168.0,    132.0   ],-  "placed": 149,-  "unplaced": [],-  "ratsnest_original_mm": 1644.5,-  "ratsnest_plan_mm": 1949.2,-  "macro": {-   "Q1": [-    162.7,-    108.5,-    0-   ],-   "Q2": [-    162.7,-    115.5,-    0+  "placed": 122,+  "fixedInterface": {+   "MC1": [+    140.0,+    63.0,+    -90.0    ],-   "Q3": [-    162.7,-    95.5,-    0+   "MC2": [+    108.0,+    62.999999,+    0.0    ],-   "Q4": [-    162.2,-    102.0,-    0+   "MC3": [+    132.0,+    63.0,+    -90.0    ],-   "Q5": [-    162.7,-    76.5,-    0+   "MC4": [+    108.0,+    65.0,+    0.0    ],-   "Q6": [-    162.7,-    83.5,-    0+   "MC5": [+    164.0,+    111.0,+    90.0    ],-   "C3": [-    160.2,-    64.6,-    0+   "MC6": [+    108.0,+    87.0,+    -90.0    ],-   "C2": [-    146.0,-    64.6,-    0+   "MC7": [+    108.0,+    81.0,+    0.0    ],-   "D1": [-    134.5,-    61.5,-    0+   "MC8": [+    108.0,+    85.0,+    90.0    ],-   "R32": [-    162.8,-    128.5,-    0+   "MC9": [+    164.0,+    97.0,+    180.0    ],-   "U6": [-    153.3,-    128.8,-    0+   "MC10": [+    108.0,+    83.0,+    -90.0    ],-   "U4": [-    150.7,-    99.0,-    0+   "MC11": [+    164.0,+    83.0,+    180.0    ],-   "U1": [-    150.7,-    86.5,-    0+   "MC12": [+    108.0,+    95.000001,+    90.0    ],-   "U5": [-    132.7,-    101.0,-    0+   "MC13": [+    166.0,+    63.0,+    90.0    ],-   "Y1": [-    132.7,-    111.5,-    0+   "MC14": [+    166.0,+    127.0,+    90.0    ],-   "U3": [-    132.7,-    89.5,-    0+   "MC15": [+    108.0,+    77.0,+    90.0    ],-   "U2": [-    126.0,-    75.0,-    0+   "MC16": [+    108.0,+    73.000001,+    90.0    ],-   "D2": [-    126.0,-    84.0,-    0+   "MC17": [+    108.0,+    91.0,+    90.0    ],-   "J1": [-    109.4,+   "MC18": [+    108.0,     97.0,-    0+    0.0    ],-   "SW1": [-    108.2,+   "MC19": [+    106.0,+    127.0,+    0.0+   ],+   "MC20": [     108.0,-    0+    75.000001,+    90.0    ],+   "MC21": [+    108.0,+    89.0,+    90.0+   ],+   "MC22": [+    108.0,+    71.000001,+    90.0+   ],+   "MC23": [+    108.0,+    93.0,+    90.0+   ],+   "MP1": [+    120.0,+    63.0,+    0.0+   ],+   "MP2": [+    152.0,+    63.0,+    0.0+   ],+   "MP3": [+    152.0,+    127.0,+    0.0+   ],+   "MP4": [+    120.0,+    127.0,+    0.0+   ]+  },+  "unplaced": [],+  "ratsnest_original_mm": 1644.5,+  "ratsnest_plan_mm": 1693.3,+  "macro": {    "MC1": [-    107.995,-    68.495,-    0+    140.0,+    63.0,+    -90.0    ],    "MC2": [-    123.01,-    60.01,-    0+    108.0,+    62.999999,+    0.0    ],    "MC3": [-    107.495,-    74.885,-    0+    132.0,+    63.0,+    -90.0    ],    "MC4": [-    125.89,-    60.01,-    0+    108.0,+    65.0,+    0.0    ],    "MC5": [-    107.495,-    117.495,-    0+    164.0,+    111.0,+    90.0    ],    "MC6": [-    119.38,-    123.51,-    0+    108.0,+    87.0,+    -90.0    ],    "MC7": [-    105.99,-    121.88,-    0+    108.0,+    81.0,+    0.0    ],    "MC8": [-    122.26,-    123.01,-    0+    108.0,+    85.0,+    90.0    ],    "MC9": [-    114.495,-    128.005,-    0+    164.0,+    97.0,+    180.0    ],    "MC10": [-    124.64,-    123.01,-    0+    108.0,+    83.0,+    -90.0    ],    "MC11": [-    114.995,-    122.005,-    0+    164.0,+    83.0,+    180.0    ],    "MC12": [-    127.52,-    123.01,-    0+    108.0,+    95.000001,+    90.0    ],    "MC13": [-    119.38,-    130.01,-    0+    166.0,+    63.0,+    90.0    ],    "MC14": [-    130.9,-    123.51,-    0+    166.0,+    127.0,+    90.0    ],    "MC15": [-    133.78,-    123.51,-    0+    108.0,+    77.0,+    90.0    ],    "MC16": [-    112.99,-    60.01,-    0+    108.0,+    73.000001,+    90.0    ],    "MC17": [-    136.66,-    123.51,-    0+    108.0,+    91.0,+    90.0    ],    "MC18": [-    115.87,-    60.01,-    0+    108.0,+    97.0,+    0.0    ],    "MC19": [-    139.54,-    123.51,-    0+    106.0,+    127.0,+    0.0    ],    "MC20": [-    142.42,-    123.51,-    0+    108.0,+    75.000001,+    90.0    ],    "MC21": [-    118.25,-    60.01,-    0+    108.0,+    89.0,+    90.0    ],    "MC22": [-    145.3,-    123.51,-    0+    108.0,+    71.000001,+    90.0    ],    "MC23": [-    120.63,-    60.01,-    0+    108.0,+    93.0,+    90.0    ],    "MP1": [-    108.2,-    62.2,-    0+    120.0,+    63.0,+    0.0    ],    "MP2": [-    108.2,-    127.8,-    0+    152.0,+    63.0,+    0.0    ],    "MP3": [-    124.0,-    127.8,-    0+    152.0,+    127.0,+    0.0    ],    "MP4": [-    108.2,-    82.0,+    120.0,+    127.0,+    0.0+   ],+   "Q1": [+    154.7,+    108.5,+    0+   ],+   "Q2": [+    154.7,+    115.5,+    0+   ],+   "Q3": [+    154.7,+    95.5,+    0+   ],+   "Q4": [+    154.2,+    102.0,+    0+   ],+   "Q5": [+    154.7,+    76.5,+    0+   ],+   "Q6": [+    154.7,+    83.5,+    0+   ],+   "C3": [+    145.0,+    83.5,+    90+   ],+   "C2": [+    133.3,+    81.0,+    90+   ],+   "D1": [+    127.3,+    71.5,+    0+   ],+   "R32": [+    161.3,+    127.0,+    90+   ],+   "U6": [+    146.8,+    122.3,+    90+   ],+   "U4": [+    142.7,+    99.0,+    0+   ],+   "U1": [+    136.7,+    92.5,+    0+   ],+   "U5": [+    124.7,+    101.0,+    0+   ],+   "Y1": [+    124.7,+    111.5,+    0+   ],+   "U3": [+    124.7,+    89.5,+    0+   ],+   "U2": [+    124.5,+    76.5,+    90+   ],+   "D2": [+    125.5,+    83.5,+    90+   ],+   "J1": [+    114.5,+    97.0,+    0+   ],+   "SW1": [+    114.5,+    108.5,     0    ]   }  },  "plan": {   "TP8": {-   "x": 116.821,-   "y": 77.777,+   "x": 124.776,+   "y": 67.657,    "rotation": 0,    "side": "F.Cu",    "value": "+VBAT",-   "anchor": "U2"+   "anchor": "C2"   },   "U2": {-   "x": 126.0,-   "y": 75.0,-   "rotation": 0,+   "x": 124.5,+   "y": 76.5,+   "rotation": 90,    "side": "F.Cu",    "value": "TPSM365R6V5RDNR",    "anchor": null   },   "JP1": {-   "x": 121.611,-   "y": 73.596,+   "x": 120.156,+   "y": 74.85,    "rotation": 90,    "side": "F.Cu",    "value": "MC_JMP",    "anchor": "U2"   },-  "MC14": {-   "x": 130.9,-   "y": 123.51,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },-  "MC6": {-   "x": 119.38,-   "y": 123.51,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "C7": {-   "x": 116.1,-   "y": 74.35,-   "rotation": 90,+   "x": 146.213,+   "y": 75.3,+   "rotation": 0,    "side": "F.Cu",    "value": "1u",-   "anchor": "U2"+   "anchor": "C2"   },   "R26": {-   "x": 124.037,-   "y": 102.25,+   "x": 118.423,+   "y": 108.923,    "rotation": 90,    "side": "F.Cu",    "value": "10k",    "anchor": "U5"   },   "Q2": {-   "x": 162.7,+   "x": 154.7,    "y": 115.5,    "rotation": 0,    "side": "F.Cu",    "value": "BSC016N06NS",    "anchor": null   },-  "MC10": {-   "x": 124.64,-   "y": 123.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "C8": {-   "x": 145.275,-   "y": 99.722,-   "rotation": 90,+   "x": 134.623,+   "y": 96.497,+   "rotation": 0,    "side": "F.Cu",    "value": "10u",-   "anchor": "U4"+   "anchor": "U1"   },   "C14": {-   "x": 120.806,-   "y": 77.607,+   "x": 138.873,+   "y": 72.564,    "rotation": 0,    "side": "F.Cu",    "value": "10u",-   "anchor": "U2"+   "anchor": "C2"   },   "C12": {-   "x": 157.432,-   "y": 94.118,+   "x": 141.534,+   "y": 94.519,    "rotation": 0,    "side": "F.Cu",    "value": "220n",    "anchor": "U4"   },   "R10": {-   "x": 157.436,+   "x": 149.436,    "y": 103.654,    "rotation": 90,    "side": "F.Cu",@@ -354,103 +467,79 @@    "anchor": "Q4"   },   "TP17": {-   "x": 118.123,-   "y": 62.507,+   "x": 112.677,+   "y": 103.807,    "rotation": 0,    "side": "F.Cu",    "value": "UART_TX",-   "anchor": "MC21"+   "anchor": "J1"   },   "R6": {-   "x": 143.262,-   "y": 99.975,+   "x": 136.989,+   "y": 96.69,    "rotation": 90,    "side": "F.Cu",    "value": "20k",-   "anchor": "U4"+   "anchor": "U1"   },   "TP5": {-   "x": 133.653,-   "y": 126.007,+   "x": 112.676,+   "y": 87.961,    "rotation": 0,    "side": "F.Cu",    "value": "+3V3",-   "anchor": "MC15"+   "anchor": "J1"   },   "R8": {-   "x": 158.06,-   "y": 96.669,+   "x": 149.883,+   "y": 94.558,    "rotation": 90,    "side": "F.Cu",    "value": "22k",    "anchor": "Q3"   },-  "MC1": {-   "x": 107.995,-   "y": 68.495,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "C24": {-   "x": 136.174,-   "y": 119.7,+   "x": 118.414,+   "y": 90.637,    "rotation": 90,    "side": "F.Cu",    "value": "100n",-   "anchor": "MC15"-  },-  "MP1": {-   "x": 108.2,-   "y": 62.2,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },-  "MC18": {-   "x": 115.87,-   "y": 60.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null+   "anchor": "J1"   },   "C20": {-   "x": 147.511,-   "y": 103.967,-   "rotation": 0,+   "x": 132.263,+   "y": 93.747,+   "rotation": 90,    "side": "F.Cu",    "value": "10u",-   "anchor": "U4"+   "anchor": "U1"   },   "C17": {-   "x": 120.775,-   "y": 69.727,-   "rotation": 0,+   "x": 137.977,+   "y": 68.531,+   "rotation": 90,    "side": "F.Cu",    "value": "10u",-   "anchor": "U2"+   "anchor": "C2"   },   "C42": {-   "x": 124.371,-   "y": 107.371,+   "x": 116.995,+   "y": 112.069,    "rotation": 90,    "side": "F.Cu",    "value": "1n",    "anchor": "U5"   },   "R12": {-   "x": 156.467,-   "y": 101.624,-   "rotation": 0,+   "x": 147.638,+   "y": 100.625,+   "rotation": 90,    "side": "F.Cu",    "value": "0R",    "anchor": "U4"   },   "Q5": {-   "x": 162.7,+   "x": 154.7,    "y": 76.5,    "rotation": 0,    "side": "F.Cu",@@ -458,39 +547,39 @@    "anchor": null   },   "FB1": {-   "x": 136.955,-   "y": 107.09,-   "rotation": 0,+   "x": 128.511,+   "y": 109.116,+   "rotation": 90,    "side": "F.Cu",    "value": "600R @ 100MHZ",    "anchor": "U5"   },   "TP4": {-   "x": 145.368,-   "y": 96.165,+   "x": 131.568,+   "y": 97.182,    "rotation": 0,    "side": "F.Cu",    "value": "GVDD",-   "anchor": "U4"+   "anchor": "U1"   },   "R32": {-   "x": 162.8,-   "y": 128.5,-   "rotation": 0,+   "x": 161.3,+   "y": 127.0,+   "rotation": 90,    "side": "F.Cu",    "value": "R0005",    "anchor": null   },   "SW1": {-   "x": 108.2,-   "y": 108.0,+   "x": 114.5,+   "y": 108.5,    "rotation": 0,    "side": "F.Cu",    "value": "SKRPACE010",    "anchor": null   },   "Q6": {-   "x": 162.7,+   "x": 154.7,    "y": 83.5,    "rotation": 0,    "side": "F.Cu",@@ -498,31 +587,31 @@    "anchor": null   },   "C16": {-   "x": 118.647,-   "y": 73.598,-   "rotation": 90,+   "x": 141.666,+   "y": 75.296,+   "rotation": 0,    "side": "F.Cu",    "value": "10u",-   "anchor": "U2"+   "anchor": "C2"   },   "C5": {-   "x": 116.018,-   "y": 71.64,+   "x": 136.876,+   "y": 88.778,    "rotation": 0,    "side": "F.Cu",    "value": "100n",-   "anchor": "U2"+   "anchor": "C2"   },   "C10": {-   "x": 123.872,-   "y": 80.502,-   "rotation": 0,+   "x": 122.009,+   "y": 81.755,+   "rotation": 90,    "side": "F.Cu",    "value": "22u",    "anchor": "D2"   },   "U3": {-   "x": 132.7,+   "x": 124.7,    "y": 89.5,    "rotation": 0,    "side": "F.Cu",@@ -530,95 +619,63 @@    "anchor": null   },   "J1": {-   "x": 109.4,+   "x": 114.5,    "y": 97.0,    "rotation": 0,    "side": "F.Cu",    "value": "Conn_ST_STDC14",    "anchor": null   },-  "MC13": {-   "x": 119.38,-   "y": 130.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "C41": {-   "x": 129.074,-   "y": 111.515,-   "rotation": 0,+   "x": 120.1,+   "y": 113.85,+   "rotation": 90,    "side": "F.Cu",    "value": "100n",    "anchor": "U5"   },-  "MC15": {-   "x": 133.78,-   "y": 123.51,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },-  "MC7": {-   "x": 105.99,-   "y": 121.88,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "TP7": {-   "x": 132.729,-   "y": 76.832,+   "x": 135.907,+   "y": 64.575,    "rotation": 0,    "side": "F.Cu",    "value": "+VBAT",-   "anchor": "U2"+   "anchor": "C2"   },   "D2": {-   "x": 126.0,-   "y": 84.0,-   "rotation": 0,+   "x": 125.5,+   "y": 83.5,+   "rotation": 90,    "side": "F.Cu",    "value": "SS14",    "anchor": null   },-  "MC17": {-   "x": 136.66,-   "y": 123.51,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "R4": {-   "x": 155.972,-   "y": 103.81,-   "rotation": 90,+   "x": 145.764,+   "y": 103.921,+   "rotation": 0,    "side": "F.Cu",    "value": "0R",    "anchor": "U4"   },   "R29": {-   "x": 124.166,-   "y": 99.823,+   "x": 118.424,+   "y": 111.512,    "rotation": 90,    "side": "F.Cu",    "value": "10k",    "anchor": "U5"   },   "R20": {-   "x": 114.85,-   "y": 99.54,+   "x": 118.323,+   "y": 106.285,    "rotation": 90,    "side": "F.Cu",    "value": "10k",    "anchor": "J1"   },   "C40": {-   "x": 140.362,+   "x": 132.363,    "y": 103.25,    "rotation": 90,    "side": "F.Cu",@@ -626,7 +683,7 @@    "anchor": "U5"   },   "TP3": {-   "x": 139.362,+   "x": 131.363,    "y": 100.25,    "rotation": 0,    "side": "F.Cu",@@ -634,111 +691,79 @@    "anchor": "U5"   },   "TP16": {-   "x": 136.533,-   "y": 126.007,+   "x": 115.099,+   "y": 103.489,    "rotation": 0,    "side": "F.Cu",    "value": "UART_RX",-   "anchor": "MC17"-  },-  "MC22": {-   "x": 145.3,-   "y": 123.51,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null+   "anchor": "J1"   },   "TP20": {-   "x": 129.072,+   "x": 121.072,    "y": 108.031,    "rotation": 0,    "side": "F.Cu",    "value": "BEMF_A",    "anchor": "U5"   },-  "MC20": {-   "x": 142.42,-   "y": 123.51,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },-  "MC5": {-   "x": 107.495,-   "y": 117.495,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "C6": {-   "x": 129.726,-   "y": 125.462,-   "rotation": 0,+   "x": 106.095,+   "y": 97.168,+   "rotation": 90,    "side": "F.Cu",    "value": "1u",-   "anchor": "MC15"+   "anchor": "J1"   },   "R16": {-   "x": 133.323,-   "y": 94.417,-   "rotation": 90,+   "x": 128.284,+   "y": 94.953,+   "rotation": 0,    "side": "F.Cu",    "value": "1.5k",    "anchor": "U5"   },-  "MC8": {-   "x": 122.26,-   "y": 123.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "C21": {-   "x": 153.763,-   "y": 106.774,-   "rotation": 0,+   "x": 143.601,+   "y": 104.122,+   "rotation": 90,    "side": "F.Cu",    "value": "220n",    "anchor": "U4"   },   "R27": {-   "x": 126.445,-   "y": 107.09,+   "x": 128.66,+   "y": 107.157,    "rotation": 0,    "side": "F.Cu",    "value": "2.2k",    "anchor": "U5"   },   "TP9": {-   "x": 126.052,-   "y": 104.43,+   "x": 110.5,+   "y": 83.0,    "rotation": 0,    "side": "F.Cu",    "value": "DSHOT",-   "anchor": "U5"+   "anchor": "MC10"   },   "TP1": {-   "x": 126.05,-   "y": 101.997,+   "x": 117.804,+   "y": 103.486,    "rotation": 0,    "side": "F.Cu",    "value": "NEUTRAL",    "anchor": "U5"   },   "R31": {-   "x": 151.601,-   "y": 104.122,-   "rotation": 90,+   "x": 159.75,+   "y": 83.5,+   "rotation": 0,    "side": "F.Cu",    "value": "22k",-   "anchor": "U4"+   "anchor": "Q6"   },   "TP19": {-   "x": 131.323,+   "x": 123.323,    "y": 94.341,    "rotation": 0,    "side": "F.Cu",@@ -746,7 +771,7 @@    "anchor": "U5"   },   "Q4": {-   "x": 162.2,+   "x": 154.2,    "y": 102.0,    "rotation": 0,    "side": "F.Cu",@@ -754,7 +779,7 @@    "anchor": null   },   "U5": {-   "x": 132.7,+   "x": 124.7,    "y": 101.0,    "rotation": 0,    "side": "F.Cu",@@ -762,47 +787,39 @@    "anchor": null   },   "TP12": {-   "x": 163.75,-   "y": 120.0,+   "x": 148.638,+   "y": 97.375,    "rotation": 0,    "side": "F.Cu",    "value": "PHASE A",-   "anchor": "Q2"+   "anchor": "U4"   },   "C34": {-   "x": 117.55,-   "y": 69.602,-   "rotation": 90,+   "x": 135.42,+   "y": 67.027,+   "rotation": 0,    "side": "F.Cu",    "value": "100n",-   "anchor": "U2"+   "anchor": "C2"   },   "C3": {-   "x": 160.2,-   "y": 64.6,-   "rotation": 0,+   "x": 145.0,+   "y": 83.5,+   "rotation": 90,    "side": "F.Cu",    "value": "330u",    "anchor": null   },   "C18": {-   "x": 125.836,-   "y": 70.546,+   "x": 133.804,+   "y": 72.328,    "rotation": 0,    "side": "F.Cu",    "value": "10u",-   "anchor": "U2"-  },-  "MP2": {-   "x": 108.2,-   "y": 127.8,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null+   "anchor": "C2"   },   "Q3": {-   "x": 162.7,+   "x": 154.7,    "y": 95.5,    "rotation": 0,    "side": "F.Cu",@@ -810,79 +827,71 @@    "anchor": null   },   "Y1": {-   "x": 132.7,+   "x": 124.7,    "y": 111.5,    "rotation": 0,    "side": "F.Cu",    "value": "8MHz",    "anchor": null   },-  "MC2": {-   "x": 123.01,-   "y": 60.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "C1": {-   "x": 132.877,-   "y": 73.538,-   "rotation": 90,+   "x": 121.76,+   "y": 71.428,+   "rotation": 0,    "side": "F.Cu",    "value": "1u",    "anchor": "U2"   },   "C44": {-   "x": 133.78,-   "y": 119.01,-   "rotation": 0,+   "x": 105.916,+   "y": 92.225,+   "rotation": 90,    "side": "F.Cu",    "value": "100n",-   "anchor": "MC15"+   "anchor": "J1"   },   "R2": {-   "x": 155.461,-   "y": 93.737,+   "x": 143.601,+   "y": 93.878,    "rotation": 90,    "side": "F.Cu",    "value": "0R",    "anchor": "U4"   },   "C2": {-   "x": 146.0,-   "y": 64.6,-   "rotation": 0,+   "x": 133.3,+   "y": 81.0,+   "rotation": 90,    "side": "F.Cu",    "value": "330u",    "anchor": null   },   "C15": {-   "x": 130.1,-   "y": 74.35,-   "rotation": 90,+   "x": 134.051,+   "y": 69.338,+   "rotation": 0,    "side": "F.Cu",    "value": "10u",-   "anchor": "U2"+   "anchor": "C2"   },   "C39": {-   "x": 112.275,-   "y": 106.925,+   "x": 109.211,+   "y": 102.946,    "rotation": 90,    "side": "F.Cu",    "value": "100n",-   "anchor": "SW1"+   "anchor": "J1"   },   "D1": {-   "x": 134.5,-   "y": 61.5,+   "x": 127.3,+   "y": 71.5,    "rotation": 0,    "side": "F.Cu",    "value": "SMBJ26A",    "anchor": null   },   "Q1": {-   "x": 162.7,+   "x": 154.7,    "y": 108.5,    "rotation": 0,    "side": "F.Cu",@@ -890,143 +899,127 @@    "anchor": null   },   "C27": {-   "x": 131.938,-   "y": 128.692,+   "x": 114.54,+   "y": 86.711,    "rotation": 90,    "side": "F.Cu",    "value": "100n",-   "anchor": "MC15"+   "anchor": "J1"   },   "LED1": {-   "x": 138.824,-   "y": 97.61,+   "x": 130.89,+   "y": 102.985,    "rotation": 90,    "side": "F.Cu",    "value": "GRN",    "anchor": "U5"   },   "TP13": {-   "x": 156.638,-   "y": 99.325,+   "x": 159.75,+   "y": 102.0,    "rotation": 0,    "side": "F.Cu",    "value": "PHASE B",-   "anchor": "U4"+   "anchor": "Q4"   },   "R21": {-   "x": 127.301,-   "y": 94.446,-   "rotation": 90,+   "x": 120.287,+   "y": 90.754,+   "rotation": 0,    "side": "F.Cu",    "value": "10k",    "anchor": "U5"   },   "C38": {-   "x": 124.725,-   "y": 65.351,+   "x": 134.554,+   "y": 88.734,    "rotation": 0,    "side": "F.Cu",    "value": "100n",-   "anchor": "U2"+   "anchor": "C2"   },   "C37": {-   "x": 121.194,-   "y": 67.111,+   "x": 131.431,+   "y": 89.159,    "rotation": 0,    "side": "F.Cu",    "value": "1u",-   "anchor": "U2"+   "anchor": "C2"   },   "C23": {-   "x": 133.653,-   "y": 121.013,+   "x": 112.299,+   "y": 90.468,    "rotation": 0,    "side": "F.Cu",    "value": "10u",-   "anchor": "MC15"+   "anchor": "J1"   },   "U1": {-   "x": 150.7,-   "y": 86.5,+   "x": 136.7,+   "y": 92.5,    "rotation": 0,    "side": "F.Cu",    "value": "ZXTR2012Z-7",    "anchor": null   },   "R13": {-   "x": 157.936,-   "y": 78.154,-   "rotation": 90,+   "x": 149.491,+   "y": 75.885,+   "rotation": 0,    "side": "F.Cu",    "value": "22k",    "anchor": "Q5"   },   "R28": {-   "x": 151.333,-   "y": 94.332,+   "x": 159.622,+   "y": 99.573,    "rotation": 0,    "side": "F.Cu",    "value": "22k",-   "anchor": "U4"+   "anchor": "Q4"   },   "C4": {-   "x": 125.981,-   "y": 67.488,+   "x": 141.833,+   "y": 69.858,    "rotation": 0,    "side": "F.Cu",    "value": "4.7u",-   "anchor": "U2"+   "anchor": "C2"   },   "C33": {-   "x": 130.464,-   "y": 70.527,+   "x": 143.389,+   "y": 72.418,    "rotation": 0,    "side": "F.Cu",    "value": "1u",-   "anchor": "U2"-  },-  "MP3": {-   "x": 124.0,-   "y": 127.8,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },-  "MC23": {-   "x": 120.63,-   "y": 60.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null+   "anchor": "C2"   },   "R19": {-   "x": 131.45,-   "y": 92.338,+   "x": 122.946,+   "y": 92.366,    "rotation": 0,    "side": "F.Cu",    "value": "10k",    "anchor": "U5"   },   "C29": {-   "x": 138.927,-   "y": 105.663,-   "rotation": 90,+   "x": 128.479,+   "y": 110.913,+   "rotation": 0,    "side": "F.Cu",    "value": "1u",    "anchor": "U5"   },   "R1": {-   "x": 129.442,-   "y": 68.123,-   "rotation": 90,+   "x": 121.974,+   "y": 69.74,+   "rotation": 0,    "side": "F.Cu",    "value": "100k",    "anchor": "U2"   },   "TP11": {-   "x": 134.323,+   "x": 126.323,    "y": 107.659,    "rotation": 0,    "side": "F.Cu",@@ -1034,39 +1027,23 @@    "anchor": "U5"   },   "TP15": {-   "x": 142.293,-   "y": 121.013,+   "x": 120.697,+   "y": 94.244,    "rotation": 0,    "side": "F.Cu",    "value": "SWCLK",-   "anchor": "MC20"+   "anchor": "J1"   },   "R30": {-   "x": 124.15,-   "y": 104.751,-   "rotation": 90,+   "x": 113.304,+   "y": 105.731,+   "rotation": 0,    "side": "F.Cu",    "value": "2.2k",    "anchor": "U5"   },-  "MC11": {-   "x": 114.995,-   "y": 122.005,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },-  "MC19": {-   "x": 139.54,-   "y": 123.51,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "TP2": {-   "x": 131.666,+   "x": 123.666,    "y": 107.574,    "rotation": 0,    "side": "F.Cu",@@ -1074,79 +1051,55 @@    "anchor": "U5"   },   "R17": {-   "x": 120.584,-   "y": 61.895,-   "rotation": 0,+   "x": 109.059,+   "y": 100.555,+   "rotation": 90,    "side": "F.Cu",    "value": "1k",-   "anchor": "MC21"-  },-  "MC9": {-   "x": 114.495,-   "y": 128.005,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null+   "anchor": "J1"   },   "C45": {-   "x": 124.201,-   "y": 96.255,+   "x": 110.259,+   "y": 105.669,    "rotation": 0,    "side": "F.Cu",    "value": "1n",    "anchor": "U5"   },   "TP10": {-   "x": 135.323,-   "y": 94.341,+   "x": 116.199,+   "y": 90.468,    "rotation": 0,    "side": "F.Cu",    "value": "SWDIO",-   "anchor": "U5"+   "anchor": "J1"   },   "R22": {-   "x": 127.646,-   "y": 121.014,-   "rotation": 0,+   "x": 106.016,+   "y": 94.749,+   "rotation": 90,    "side": "F.Cu",    "value": "1k",    "anchor": "MC12"   },   "C28": {-   "x": 136.511,-   "y": 109.116,-   "rotation": 90,+   "x": 130.931,+   "y": 107.603,+   "rotation": 0,    "side": "F.Cu",    "value": "100n",    "anchor": "U5"   },-  "MC12": {-   "x": 127.52,-   "y": 123.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },-  "MC16": {-   "x": 112.99,-   "y": 60.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "C36": {-   "x": 122.669,-   "y": 99.503,-   "rotation": 90,+   "x": 120.538,+   "y": 89.25,+   "rotation": 0,    "side": "F.Cu",    "value": "33p",    "anchor": "U5"   },   "R15": {-   "x": 160.046,+   "x": 152.046,    "y": 87.401,    "rotation": 0,    "side": "F.Cu",@@ -1154,127 +1107,119 @@    "anchor": "Q6"   },   "C26": {-   "x": 130.275,-   "y": 121.583,+   "x": 115.125,+   "y": 88.492,    "rotation": 0,    "side": "F.Cu",    "value": "100n",-   "anchor": "MC15"+   "anchor": "J1"   },   "C35": {-   "x": 123.713,-   "y": 97.609,+   "x": 128.435,+   "y": 93.331,    "rotation": 0,    "side": "F.Cu",    "value": "33p",    "anchor": "U5"   },   "TP14": {-   "x": 153.765,-   "y": 104.272,+   "x": 155.75,+   "y": 88.0,    "rotation": 0,    "side": "F.Cu",    "value": "PHASE C",-   "anchor": "U4"+   "anchor": "Q6"   },   "R14": {-   "x": 144.493,-   "y": 102.525,-   "rotation": 0,+   "x": 137.778,+   "y": 101.024,+   "rotation": 90,    "side": "F.Cu",    "value": "0R",    "anchor": "U4"   },   "C32": {-   "x": 128.454,-   "y": 81.36,+   "x": 133.175,+   "y": 67.301,    "rotation": 0,    "side": "F.Cu",    "value": "100n",-   "anchor": "U2"+   "anchor": "C2"   },   "R9": {-   "x": 150.001,-   "y": 104.615,-   "rotation": 90,+   "x": 139.888,+   "y": 103.921,+   "rotation": 0,    "side": "F.Cu",    "value": "0R",    "anchor": "U4"   },   "R5": {-   "x": 157.936,-   "y": 117.154,-   "rotation": 90,+   "x": 152.046,+   "y": 119.401,+   "rotation": 0,    "side": "F.Cu",    "value": "22k",    "anchor": "Q2"   },   "C30": {-   "x": 133.78,-   "y": 128.01,-   "rotation": 0,+   "x": 110.435,+   "y": 87.787,+   "rotation": 90,    "side": "F.Cu",    "value": "1u",-   "anchor": "MC15"+   "anchor": "J1"   },   "R24": {-   "x": 161.548,-   "y": 119.989,+   "x": 147.877,+   "y": 94.685,    "rotation": 90,    "side": "F.Cu",    "value": "22k",-   "anchor": "Q2"+   "anchor": "U4"   },   "C9": {-   "x": 119.946,-   "y": 85.952,-   "rotation": 0,+   "x": 120.362,+   "y": 85.482,+   "rotation": 90,    "side": "F.Cu",    "value": "1u",    "anchor": "D2"   },   "R33": {-   "x": 122.543,-   "y": 101.999,+   "x": 110.616,+   "y": 103.503,    "rotation": 90,    "side": "F.Cu",    "value": "10k",    "anchor": "U5"   },-  "MC4": {-   "x": 125.89,-   "y": 60.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },   "C13": {-   "x": 153.26,-   "y": 92.836,-   "rotation": 0,+   "x": 147.59,+   "y": 103.379,+   "rotation": 90,    "side": "F.Cu",    "value": "220n",    "anchor": "U4"   },   "C43": {-   "x": 122.585,-   "y": 104.502,+   "x": 115.643,+   "y": 111.892,    "rotation": 90,    "side": "F.Cu",    "value": "1n",    "anchor": "U5"   },   "R7": {-   "x": 153.638,-   "y": 94.175,-   "rotation": 0,+   "x": 149.357,+   "y": 100.147,+   "rotation": 90,    "side": "F.Cu",    "value": "0R",    "anchor": "U4"   },   "U4": {-   "x": 150.7,+   "x": 142.7,    "y": 99.0,    "rotation": 0,    "side": "F.Cu",@@ -1282,151 +1227,127 @@    "anchor": null   },   "LED3": {-   "x": 129.096,-   "y": 94.423,-   "rotation": 90,+   "x": 125.703,+   "y": 93.063,+   "rotation": 0,    "side": "F.Cu",    "value": "BLU",    "anchor": "U5"   },   "C19": {-   "x": 128.874,-   "y": 79.247,+   "x": 128.793,+   "y": 67.317,    "rotation": 0,    "side": "F.Cu",    "value": "10u",-   "anchor": "U2"+   "anchor": "C2"   },   "R25": {-   "x": 126.184,-   "y": 108.633,-   "rotation": 0,+   "x": 130.935,+   "y": 105.666,+   "rotation": 90,    "side": "F.Cu",    "value": "2.2k",    "anchor": "U5"   },   "LED2": {-   "x": 138.89,-   "y": 102.985,-   "rotation": 90,+   "x": 125.829,+   "y": 94.599,+   "rotation": 0,    "side": "F.Cu",    "value": "GRN",    "anchor": "U5"   },   "C22": {-   "x": 143.39,-   "y": 97.548,-   "rotation": 90,+   "x": 131.834,+   "y": 91.262,+   "rotation": 0,    "side": "F.Cu",    "value": "100n",-   "anchor": "U4"+   "anchor": "U1"   },   "TP6": {-   "x": 121.011,-   "y": 83.746,+   "x": 122.328,+   "y": 85.993,    "rotation": 0,    "side": "F.Cu",    "value": "+5V",    "anchor": "D2"   },   "R18": {-   "x": 136.786,-   "y": 121.514,+   "x": 115.693,+   "y": 105.752,    "rotation": 0,    "side": "F.Cu",    "value": "1k",-   "anchor": "MC17"+   "anchor": "J1"   },   "R23": {-   "x": 129.197,-   "y": 110.003,-   "rotation": 0,+   "x": 121.447,+   "y": 113.099,+   "rotation": 90,    "side": "F.Cu",    "value": "22k",    "anchor": "U5"   },   "TP18": {-   "x": 156.087,-   "y": 96.222,+   "x": 145.765,+   "y": 93.728,    "rotation": 0,    "side": "F.Cu",    "value": "GATE",    "anchor": "U4"   },   "C25": {-   "x": 131.135,-   "y": 119.267,+   "x": 106.664,+   "y": 99.108,    "rotation": 0,    "side": "F.Cu",    "value": "100n",-   "anchor": "MC15"-  },-  "MP4": {-   "x": 108.2,-   "y": 82.0,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },-  "MC3": {-   "x": 107.495,-   "y": 74.885,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null-  },-  "MC21": {-   "x": 118.25,-   "y": 60.01,-   "rotation": 0,-   "side": "F.Cu",-   "value": "~",-   "anchor": null+   "anchor": "J1"   },   "C31": {-   "x": 119.124,-   "y": 80.182,+   "x": 141.26,+   "y": 67.162,    "rotation": 0,    "side": "F.Cu",    "value": "1u",-   "anchor": "U2"+   "anchor": "C2"   },   "TP21": {-   "x": 126.108,-   "y": 99.23,+   "x": 120.663,+   "y": 110.749,    "rotation": 0,    "side": "F.Cu",    "value": "BEMF_C",    "anchor": "U5"   },   "R11": {-   "x": 131.743,-   "y": 126.357,+   "x": 109.905,+   "y": 90.217,    "rotation": 90,    "side": "F.Cu",    "value": "2.2k",-   "anchor": "MC15"+   "anchor": "J1"   },   "C11": {-   "x": 123.872,-   "y": 87.498,-   "rotation": 0,+   "x": 119.005,+   "y": 81.248,+   "rotation": 90,    "side": "F.Cu",    "value": "22u",    "anchor": "D2"   },   "U6": {-   "x": 153.3,-   "y": 128.8,-   "rotation": 0,+   "x": 146.8,+   "y": 122.3,+   "rotation": 90,    "side": "F.Cu",    "value": "INA181A2IDBVR",    "anchor": null   },   "R3": {-   "x": 157.936,+   "x": 149.936,    "y": 110.154,    "rotation": 90,    "side": "F.Cu",@@ -1434,9 +1355,9 @@    "anchor": "Q1"   },   "R34": {-   "x": 126.232,-   "y": 96.757,-   "rotation": 90,+   "x": 120.412,+   "y": 92.251,+   "rotation": 0,    "side": "F.Cu",    "value": "2.2k",    "anchor": "U5"

demo/placement/fable/fable-stats.json+25−22

@@ -1,47 +1,50 @@ {  "engine": "Claude Fable 5.1",+ "board": "ESC G431 (149 parts; 27 machine pins and contacts fixed and locked; 122 placed)",+ "desktop": "arav-rog, KiCad 10.0.3, kicad-bridge 1.0.3",  "window": [   "2026-09-12T18:36:07.707Z",-  "2026-09-12T19:34:54Z"+  "2026-09-12T20:36:39Z"  ],- "planningStart": "2026-09-12T18:36:07Z",- "planningEnd": "2026-09-12T19:02:00Z (plan final, dry-run clean)",+ "windowNote": "from the first placement planning to the end of the accepted take; includes a first take that was discarded (the bridge moved only footprint anchors; fixed) and a re-plan after the molecule interface was made fixed",  "placement": {-  "commits": 25,-  "wallSeconds": 36.5,-  "partsPlaced": 149,-  "ratsnestMm": 1950.028,+  "commits": 21,+  "wallSeconds": 33.8,+  "partsPlaced": 122,+  "ratsnestMm": 1677.862,+  "humanRatsnestMm": 1644.5,   "courtyardOverlaps": 0,   "outsideOutline": 0,   "parked": 0,   "placementDrcErrors": 13,-  "placementDrcNote": "13 inherited from the source libraries: six malformed MOSFET courtyards, seven U2 pad clearances; zero from the placement"+  "placementDrcNote": "13 inherited from the source libraries (six malformed MOSFET courtyards, seven U2 pad clearances); zero from the placement"  },  "tokens": {   "thread": {-   "input_tokens": 3254,-   "cache_creation_input_tokens": 267816,-   "cache_read_input_tokens": 79103302,-   "output_tokens": 173781+   "input_tokens": 6974,+   "cache_creation_input_tokens": 479964,+   "cache_read_input_tokens": 176904951,+   "output_tokens": 322215   },-  "threadTurns": 124,+  "threadTurns": 253,+  "agentLaunches": 1,   "agents": 2,-  "agentsNote": "two engineering agents built and then fixed the placement verbs during the window; they are bridge development, not placement",+  "agentsNote": "engineering agents that built and fixed the placement verbs during the window; bridge development, not placement",   "withAgents": {-   "input_tokens": 7620,-   "cache_creation_input_tokens": 1604838,-   "cache_read_input_tokens": 113788930,-   "output_tokens": 345148+   "input_tokens": 11340,+   "cache_creation_input_tokens": 1816986,+   "cache_read_input_tokens": 211590579,+   "output_tokens": 493582   }  },  "usdApiEquivalent": {-  "thread": 31.85,-  "withAgents": 65.84,+  "thread": 66.41,+  "withAgents": 100.4,   "priceBasis": "claude.com/pricing 2026-09-12: Fable 5.1 $10 in, $50 out, $0.25 cache read, $12.50 cache write per MTok"  },  "planShare": {   "planUsdPerMonth": 200,-  "threadPercent": 15.9,-  "withAgentsPercent": 32.9+  "threadPercent": 33.2,+  "withAgentsPercent": 50.2  } }\ No newline at end of file

demo/placement/fable/fable2-place-log.jsonadded+15457

@@ -0,0 +1,15457 @@+{+ "start": {+  "_hint": "Use this revision as expectedRevision in kicad_move_footprint. Coordinates are mm, +y down; courtyard boxes are board-frame and per side. Cluster by nets[].refs, place decoupling caps beside their IC, keep the power stage together, and watch ratsnest.totalMm fall. kicad_placement_validate is the check.",+  "_timeoutHint": "ab waits up to 130s for this verb before the request times out. If it's a long operation (cloud open / download / export), DON'T treat a timeout as failure \u2014 the work usually keeps running on the bridge. Poll `kicad_status` until it reports done.",+  "boardPath": "C:/Users/arav/Downloads/adom-gate/esc-demo/clean/esc-g431-unplaced.kicad_pcb",+  "bridgeVersion": "1.0.3",+  "copperLayers": [+   "F.Cu",+   "In1.Cu",+   "In2.Cu",+   "B.Cu"+  ],+  "courtyardOverlapCount": 0,+  "durationMs": 144,+  "elapsedMs": 90,+  "error": "",+  "footprintCount": 149,+  "footprints": [+   {+    "courtyard": {+     "maxX": 235.9,+     "maxY": 110.26,+     "minX": 233.9,+     "minY": 108.26+    },+    "courtyardSource": "courtyard",+    "footprint": "TestPoint:TestPoint_Pad_D1.0mm",+    "insideOutline": false,+    "locked": false,+    "padCount": 1,+    "pads": [+     {+      "net": "+VBAT",+      "pad": "1"+     }+    ],+    "ref": "TP8",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "005446c0-e2df-4940-afea-5fbbaac73964",+    "value": "+VBAT",+    "x": 234.9,+    "y": 109.26+   },+   {+    "courtyard": {+     "maxX": 177.6,+     "maxY": 127.06,+     "minX": 173.0,+     "minY": 121.76+    },+    "courtyardSource": "courtyard",+    "footprint": "Regulator_CDT:TPSM336_int-buck",+    "insideOutline": false,+    "locked": false,+    "padCount": 11,+    "pads": [+     {+      "net": "unconnected-(U2-PGOOD-Pad1)",+      "pad": "1"+     },+     {+      "net": "/5V_EN",+      "pad": "2"+     },+     {+      "net": "+VBAT",+      "pad": "3"+     },+     {+      "net": "+5V",+      "pad": "4"+     },+     {+      "net": "/SW",+      "pad": "5"+     },+     {+      "net": "/SW",+      "pad": "6"+     },+     {+      "net": "unconnected-(U2-BOOT-Pad7)",+      "pad": "7"+     },+     {+      "net": "/5V_VCC",+      "pad": "8"+     },+     {+      "net": "+5V",+      "pad": "9"+     },+     {+      "net": "GND",+      "pad": "10"+     },+     {+      "net": "GND",+      "pad": "11"+     }+    ],+    "ref": "U2",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "008707ce-7fa5-4c36-b31e-6bc141ce5121",+    "value": "TPSM365R6V5RDNR",+    "x": 175.3,+    "y": 124.46+   },+   {+    "courtyard": {+     "maxX": 188.08,+     "maxY": 88.26,+     "minX": 183.58,+     "minY": 85.76+    },+    "courtyardSource": "courtyard",+    "footprint": "Adom Footprint Library:ADOM_JUMPER_4x2",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "GND",+      "pad": "1"+     },+     {+      "net": "/5V_EN",+      "pad": "2"+     }+    ],+    "ref": "JP1",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "0241f1b9-67a4-4ca7-82fa-1e1893e99e1a",+    "value": "MC_JMP",+    "x": 185.830002,+    "y": 87.01+   },+   {+    "courtyard": {+     "maxX": 166.99,+     "maxY": 127.99,+     "minX": 165.01,+     "minY": 126.01+    },+    "courtyardSource": "courtyard",+    "footprint": "adom-kicad-footprint-library:MachineContactMedium",+    "insideOutline": true,+    "locked": true,+    "padCount": 1,+    "pads": [+     {+      "net": "GND",+      "pad": "1"+     }+    ],+    "ref": "MC14",+    "rotation": 90.0,+    "side": "F.Cu",+    "uuid": "025ce2b8-173a-4008-b1ba-7d13f6ed5868",+    "value": "~",+    "x": 166.0,+    "y": 127.0+   },+   {+    "courtyard": {+     "maxX": 108.99,+     "maxY": 87.99,+     "minX": 107.01,+     "minY": 86.01+    },+    "courtyardSource": "courtyard",+    "footprint": "adom-kicad-footprint-library:MachineContactMedium",+    "insideOutline": true,+    "locked": true,+    "padCount": 1,+    "pads": [+     {+      "net": "GND",+      "pad": "1"+     }+    ],+    "ref": "MC6",+    "rotation": -90.0,+    "side": "F.Cu",+    "uuid": "039ccb14-b021-4908-a8d0-b6c6c37542e4",+    "value": "~",+    "x": 108.0,+    "y": 87.0+   },+   {+    "courtyard": {+     "maxX": 226.2,+     "maxY": 59.96,+     "minX": 222.8,+     "minY": 58.0+    },+    "courtyardSource": "courtyard",+    "footprint": "Capacitor_SMD:C_0805_2012Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "+VBAT",+      "pad": "1"+     },+     {+      "net": "GND",+      "pad": "2"+     }+    ],+    "ref": "C7",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "03a5d9ef-b086-4256-b2b3-12a0e8556d1a",+    "value": "1u",+    "x": 224.5,+    "y": 58.98+   },+   {+    "courtyard": {+     "maxX": 225.04,+     "maxY": 106.26,+     "minX": 223.18,+     "minY": 105.32+    },+    "courtyardSource": "courtyard",+    "footprint": "Resistor_SMD:R_0402_1005Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "/NEUTRAL",+      "pad": "1"+     },+     {+      "net": "/COMP2_INM_IO1_BEMF_A",+      "pad": "2"+     }+    ],+    "ref": "R26",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "03c74758-b822-470f-9f7a-af308e3424df",+    "value": "10k",+    "x": 224.11,+    "y": 105.79+   },+   {+    "courtyard": {+     "maxX": 218.4,+     "maxY": 91.42,+     "minX": 211.03,+     "minY": 85.76+    },+    "courtyardSource": "courtyard",+    "footprint": "MOSFET_CDT:TDSON-8-1_BSC016N06NS",+    "insideOutline": false,+    "locked": false,+    "padCount": 21,+    "pads": [+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "",+      "pad": ""+     },+     {+      "net": "GND",+      "pad": "1"+     },+     {+      "net": "GND",+      "pad": "2"+     },+     {+      "net": "GND",+      "pad": "3"+     },+     {+      "net": "/GLA",+      "pad": "4"+     },+     {+      "net": "/DRV_SHA",+      "pad": "5"+     }+    ],+    "ref": "Q2",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "048cd914-d217-4fed-b71d-cf01226c3bfd",+    "value": "BSC016N06NS",+    "x": 214.720002,+    "y": 88.59+   },+   {+    "courtyard": {+     "maxX": 108.99,+     "maxY": 83.99,+     "minX": 107.01,+     "minY": 82.01+    },+    "courtyardSource": "courtyard",+    "footprint": "adom-kicad-footprint-library:MachineContactMedium",+    "insideOutline": true,+    "locked": true,+    "padCount": 1,+    "pads": [+     {+      "net": "/TIM15_CH1_DSHOT",+      "pad": "1"+     }+    ],+    "ref": "MC10",+    "rotation": -90.0,+    "side": "F.Cu",+    "uuid": "055539fb-de37-4491-8380-b776ad240b12",+    "value": "~",+    "x": 108.0,+    "y": 83.0+   },+   {+    "courtyard": {+     "maxX": 231.16,+     "maxY": 59.46,+     "minX": 228.2,+     "minY": 58.0+    },+    "courtyardSource": "courtyard",+    "footprint": "Capacitor_SMD:C_0603_1608Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "+12V",+      "pad": "1"+     },+     {+      "net": "GND",+      "pad": "2"+     }+    ],+    "ref": "C8",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "05a3314c-d51b-4771-9e7d-bbfb57ff6cd6",+    "value": "10u",+    "x": 229.68,+    "y": 58.73+   },+   {+    "courtyard": {+     "maxX": 198.44,+     "maxY": 73.3,+     "minX": 193.84,+     "minY": 71.0+    },+    "courtyardSource": "courtyard",+    "footprint": "Capacitor_SMD:C_1206_3216Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "+VBAT",+      "pad": "1"+     },+     {+      "net": "GND",+      "pad": "2"+     }+    ],+    "ref": "C14",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "0b6a6f18-6dd5-486b-b80c-32820ec20227",+    "value": "10u",+    "x": 196.14,+    "y": 72.15+   },+   {+    "courtyard": {+     "maxX": 188.02,+     "maxY": 71.92,+     "minX": 186.2,+     "minY": 71.0+    },+    "courtyardSource": "courtyard",+    "footprint": "Capacitor_SMD:C_0402_1005Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "/DRV_SHA",+      "pad": "1"+     },+     {+      "net": "/DRV_BSTA",+      "pad": "2"+     }+    ],+    "ref": "C12",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "0cb5ee5c-74fe-4a8a-8dc5-3ebe1ffab2fa",+    "value": "220n",+    "x": 187.11,+    "y": 71.46+   },+   {+    "courtyard": {+     "maxX": 228.34,+     "maxY": 98.6,+     "minX": 226.48,+     "minY": 97.66+    },+    "courtyardSource": "courtyard",+    "footprint": "Resistor_SMD:R_0402_1005Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "/GLB",+      "pad": "1"+     },+     {+      "net": "GND",+      "pad": "2"+     }+    ],+    "ref": "R10",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "108082b3-65d5-4e2f-bb5e-b786b2f3fbc9",+    "value": "22k",+    "x": 227.41,+    "y": 98.13+   },+   {+    "courtyard": {+     "maxX": 208.5,+     "maxY": 116.76,+     "minX": 206.5,+     "minY": 114.76+    },+    "courtyardSource": "courtyard",+    "footprint": "TestPoint:TestPoint_Pad_D1.0mm",+    "insideOutline": false,+    "locked": false,+    "padCount": 1,+    "pads": [+     {+      "net": "/USART1_TX",+      "pad": "1"+     }+    ],+    "ref": "TP17",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "10989430-07ad-4324-81c3-7fafed3d02bb",+    "value": "UART_TX",+    "x": 207.5,+    "y": 115.76+   },+   {+    "courtyard": {+     "maxX": 212.9,+     "maxY": 98.6,+     "minX": 211.04,+     "minY": 97.66+    },+    "courtyardSource": "courtyard",+    "footprint": "Resistor_SMD:R_0402_1005Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "Net-(LED1-A)",+      "pad": "1"+     },+     {+      "net": "+12V",+      "pad": "2"+     }+    ],+    "ref": "R6",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "15ec9bff-789f-4d7c-ab94-5e4a5f6ca08a",+    "value": "20k",+    "x": 211.97,+    "y": 98.13+   },+   {+    "courtyard": {+     "maxX": 223.9,+     "maxY": 110.26,+     "minX": 221.9,+     "minY": 108.26+    },+    "courtyardSource": "courtyard",+    "footprint": "TestPoint:TestPoint_Pad_D1.0mm",+    "insideOutline": false,+    "locked": false,+    "padCount": 1,+    "pads": [+     {+      "net": "+3V3",+      "pad": "1"+     }+    ],+    "ref": "TP5",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "16129851-83d6-4da2-8efc-e437af9bf971",+    "value": "+3V3",+    "x": 222.9,+    "y": 109.26+   },+   {+    "courtyard": {+     "maxX": 220.62,+     "maxY": 98.6,+     "minX": 218.76,+     "minY": 97.66+    },+    "courtyardSource": "courtyard",+    "footprint": "Resistor_SMD:R_0402_1005Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "/GHB",+      "pad": "1"+     },+     {+      "net": "/DRV_SHB",+      "pad": "2"+     }+    ],+    "ref": "R8",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "16284a18-48d6-4398-bc55-e934e927cc9f",+    "value": "22k",+    "x": 219.69,+    "y": 98.13+   },+   {+    "courtyard": {+     "maxX": 142.495,+     "maxY": 65.495,+     "minX": 137.505,+     "minY": 60.505+    },+    "courtyardSource": "courtyard",+    "footprint": "adom-kicad-footprint-library:MachineContactLarge",+    "insideOutline": true,+    "locked": true,+    "padCount": 1,+    "pads": [+     {+      "net": "+VBAT",+      "pad": "1"+     }+    ],+    "ref": "MC1",+    "rotation": -90.0,+    "side": "F.Cu",+    "uuid": "16dc0ef6-eb27-4cf9-96ce-d130bd002c43",+    "value": "~",+    "x": 140.0,+    "y": 63.0+   },+   {+    "courtyard": {+     "maxX": 187.42,+     "maxY": 76.22,+     "minX": 185.6,+     "minY": 75.3+    },+    "courtyardSource": "courtyard",+    "footprint": "Capacitor_SMD:C_0402_1005Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "+3V3",+      "pad": "1"+     },+     {+      "net": "GND",+      "pad": "2"+     }+    ],+    "ref": "C24",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "16f77da8-0d73-4444-8e31-00d57a649345",+    "value": "100n",+    "x": 186.51,+    "y": 75.76+   },+   {+    "courtyard": {+     "maxX": 122.99,+     "maxY": 65.99,+     "minX": 117.01,+     "minY": 60.01+    },+    "courtyardSource": "courtyard",+    "footprint": "adom-kicad-footprint-library:MachinePinLargeShort",+    "insideOutline": true,+    "locked": true,+    "padCount": 1,+    "pads": [+     {+      "net": "GND",+      "pad": "1"+     }+    ],+    "ref": "MP1",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "1796251a-92ac-48c9-9db5-578f8de6c377",+    "value": "~",+    "x": 120.0,+    "y": 63.0+   },+   {+    "courtyard": {+     "maxX": 108.99,+     "maxY": 97.99,+     "minX": 107.01,+     "minY": 96.01+    },+    "courtyardSource": "courtyard",+    "footprint": "adom-kicad-footprint-library:MachineContactMedium",+    "insideOutline": true,+    "locked": true,+    "padCount": 1,+    "pads": [+     {+      "net": "GND",+      "pad": "1"+     }+    ],+    "ref": "MC18",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "186940dd-4201-4119-8e37-15bec07fc0e9",+    "value": "~",+    "x": 108.0,+    "y": 97.0+   },+   {+    "courtyard": {+     "maxX": 236.4,+     "maxY": 72.46,+     "minX": 233.44,+     "minY": 71.0+    },+    "courtyardSource": "courtyard",+    "footprint": "Capacitor_SMD:C_0603_1608Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "+12V",+      "pad": "1"+     },+     {+      "net": "GND",+      "pad": "2"+     }+    ],+    "ref": "C20",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "1bea4128-e530-479b-ad2e-b9c974565b32",+    "value": "10u",+    "x": 234.92,+    "y": 71.73+   },+   {+    "courtyard": {+     "maxX": 218.24,+     "maxY": 73.3,+     "minX": 213.64,+     "minY": 71.0+    },+    "courtyardSource": "courtyard",+    "footprint": "Capacitor_SMD:C_1206_3216Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "+VBAT",+      "pad": "1"+     },+     {+      "net": "GND",+      "pad": "2"+     }+    ],+    "ref": "C17",+    "rotation": 0.0,+    "side": "F.Cu",+    "uuid": "1c080d65-e2bf-4724-82c2-70a180e59fe6",+    "value": "10u",+    "x": 215.94,+    "y": 72.15+   },+   {+    "courtyard": {+     "maxX": 195.5,+     "maxY": 80.18,+     "minX": 193.68,+     "minY": 79.26+    },+    "courtyardSource": "courtyard",+    "footprint": "Capacitor_SMD:C_0402_1005Metric",+    "insideOutline": false,+    "locked": false,+    "padCount": 2,+    "pads": [+     {+      "net": "/COMP2_INM_IO1_BEMF_A",+      "pad": "1"+     },+     {+      "net": "GND",+      "pad": "2"+     }+    ],+    "ref": "C42",+    "rotation": 0.0,+    "side": "F.Cu",+ 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"insideOutline": true,+      "matches": true,+      "poseMatches": true,+      "ref": "R7",+      "rotation": 90.0,+      "side": "F.Cu",+      "x": 149.357,+      "y": 100.147+     },+     {+      "children": {+       "actual": [+        139.888,+        103.921+       ],+       "deltaMm": 0.0,+       "expected": [+        139.888,+        103.921+       ],+       "method": "courtyardCentre",+       "ok": true+      },+      "courtyard": {+       "maxX": 140.818,+       "maxY": 104.391,+       "minX": 138.958,+       "minY": 103.451+      },+      "insideOutline": true,+      "matches": true,+      "poseMatches": true,+      "ref": "R9",+      "rotation": 0.0,+      "side": "F.Cu",+      "x": 139.888,+      "y": 103.921+     },+     {+      "children": {+       "actual": [+        148.638,+        97.375+       ],+       "deltaMm": 0.0,+       "expected": [+        148.638,+        97.375+       ],+       "method": "courtyardCentre",+       "ok": true+      },+      "courtyard": {+    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"F.Cu",+       "x": 186.25,+       "y": 116.01+      },+      "courtyardAfter": {+       "maxX": 149.888,+       "maxY": 98.625,+       "minX": 147.388,+       "minY": 96.125+      },+      "courtyardBefore": {+       "maxX": 187.5,+       "maxY": 117.26,+       "minX": 185.0,+       "minY": 114.76+      },+      "courtyardSource": "courtyard",+      "flipped": false,+      "ref": "TP12",+      "uuid": "5f95e6e8-bc42-4f73-beef-c60dfa8b423d"+     },+     {+      "after": {+       "rotation": 0.0,+       "side": "F.Cu",+       "x": 145.765,+       "y": 93.728+      },+      "before": {+       "rotation": 0.0,+       "side": "F.Cu",+       "x": 211.5,+       "y": 115.76+      },+      "courtyardAfter": {+       "maxX": 146.765,+       "maxY": 94.728,+       "minX": 144.765,+       "minY": 92.728+      },+      "courtyardBefore": {+       "maxX": 212.5,+       "maxY": 116.76,+       "minX": 210.5,+       "minY": 114.76+      },+      "courtyardSource": "courtyard",+      "flipped": false,+      "ref": "TP18",+      "uuid": "e622f919-5ea6-4c2e-b02e-a34ae21e18c3"+     }+    ],+    "mutated": true,+    "output": "",+    "ratsnest": {+     "totalMm": 1892.053+    },+    "revision": "879d48d7c812548f60010a19fbd54a6b35b2c42f2b7df2e15d1533f3bfa64a07",+    "saved": false,+    "schemaVersion": 1,+    "source": "live-editor",+    "status": "ok",+    "statusVerb": "kicad_status",+    "success": true,+    "timeoutSeconds": 130,+    "undoLabel": "Adom: place 6 footprints (R4, R7, R9, ...)",+    "undoSteps": 1,+    "verified": true,+    "_t0": 1789245394.2133331,+    "_dt": 0.25+   }+  },+  {+   "refs": [+    "TP9",+    "R22"+   ],+   "reply": {+    "after": [+     {+      "children": {+       "actual": [+        110.5,+        83.0+       ],+       "deltaMm": 0.0,+       "expected": [+        110.5,+        83.0+       ],+       "method": "courtyardCentre",+       "ok": true+      },+      "courtyard": {+       "maxX": 111.5,+       "maxY": 84.0,+       "minX": 109.5,+       "minY": 82.0+      },+      "insideOutline": true,+      "matches": true,+      "poseMatches": true,+      "ref": "TP9",+      "rotation": 0.0,+      "side": "F.Cu",+      "x": 110.5,+      "y": 83.0+     },+     {+      "children": {+       "actual": [+        106.016,+        94.749+       ],+       "deltaMm": 0.0,+       "expected": [+        106.016,+        94.749+       ],+       "method": "courtyardCentre",+       "ok": true+      },+      "courtyard": {+       "maxX": 106.486,+       "maxY": 95.679,+       "minX": 105.546,+       "minY": 93.819+      },+      "insideOutline": true,+      "matches": true,+      "poseMatches": true,+      "ref": "R22",+      "rotation": 90.0,+      "side": "F.Cu",+      "x": 106.016,+      "y": 94.749+     }+    ],+    "bridgeVersion": "1.0.3",+    "checks": {+     "courtyardOverlaps": [],+     "ok": true,+     "outline": {+      "maxX": 168.0,+      "maxY": 132.0,+      "minX": 104.0,+      "minY": 58.0+     },+     "outlineChecked": true,+     "outsideOutline": []+    },+    "durationMs": 252,+    "elapsedMs": 229,+    "error": "",+    "mechanism": "ipc",+    "movedRefs": [+     "TP9",+     "R22"+    ],+    "moves": [+     {+      "after": {+       "rotation": 0.0,+       "side": "F.Cu",+       "x": 110.5,+       "y": 83.0+      },+      "before": {+       "rotation": 0.0,+       "side": "F.Cu",+       "x": 174.0,+       "y": 115.76+      },+      "courtyardAfter": {+       "maxX": 111.5,+       "maxY": 84.0,+       "minX": 109.5,+       "minY": 82.0+      },+      "courtyardBefore": {+       "maxX": 175.0,+       "maxY": 116.76,+       "minX": 173.0,+       "minY": 114.76+      },+      "courtyardSource": "courtyard",+      "flipped": false,+      "ref": "TP9",+      "uuid": "509eed4c-ee77-416b-987b-72d59fcd8962"+     },+     {+      "after": {+       "rotation": 90.0,+       "side": "F.Cu",+       "x": 106.016,+       "y": 94.749+      },+      "before": {+       "rotation": 0.0,+       "side": "F.Cu",+       "x": 208.67,+       "y": 105.79+      },+      "courtyardAfter": {+       "maxX": 106.486,+       "maxY": 95.679,+       "minX": 105.546,+       "minY": 93.819+      },+      "courtyardBefore": {+       "maxX": 209.6,+       "maxY": 106.26,+       "minX": 207.74,+       "minY": 105.32+      },+      "courtyardSource": "courtyard",+      "flipped": false,+      "ref": "R22",+      "uuid": "a849e47f-23f9-4a87-a1bc-da8e73e5206d"+     }+    ],+    "mutated": true,+    "output": "",+    "ratsnest": {+     "totalMm": 1677.862+    },+    "revision": "f4a72ce03f06db8d179fe54e4b39e46031d0b7e7cc6f6ccb0d55c6f9b5a35506",+    "saved": false,+    "schemaVersion": 1,+    "source": "live-editor",+    "status": "ok",+    "statusVerb": "kicad_status",+    "success": true,+    "timeoutSeconds": 130,+    "undoLabel": "Adom: place R22, TP9",+    "undoSteps": 1,+    "verified": true,+    "_t0": 1789245395.6629996,+    "_dt": 0.26+   }+  }+ ],+ "validate": {+  "_hint": "placed requires zero courtyard overlaps and nothing outside the outline; drc.placementViolations is KiCad's own verdict on courtyards, edge clearance, silk and pad clearance. A stale result is superseded by newer edits.",+  "_timeoutHint": "ab waits up to 130s for this verb before the request times out. If it's a long operation (cloud open / download / export), DON'T treat a timeout as failure \u2014 the work usually keeps running on the bridge. Poll `kicad_status` until it reports done.",+  "bridgeVersion": "1.0.3",+  "courtyardOverlapCount": 0,+  "courtyardOverlaps": [],+  "currentRevision": "f4a72ce03f06db8d179fe54e4b39e46031d0b7e7cc6f6ccb0d55c6f9b5a35506",+  "drc": {+   "available": true,+   "errors": 13,+   "otherViolationCount": 41,+   "placementClean": false,+   "placementErrors": 13,+   "placementTypes": [+    "courtyards_overlap",+    "malformed_courtyard",+    "missing_courtyard",+    "copper_edge_clearance",+    "silk_edge_clearance",+    "silk_over_copper",+    "silk_overlap",+    "hole_clearance",+    "holes_co_located",+    "drilled_holes_too_close",+    "items_not_allowed",+    "clearance",+    "shorting_items",+    "footprint_type_mismatch"+   ],+   "placementViolationCount": 36,+   "placementViolations": [+    {+     "description": "Clearance violation ( clearance 0.2000 mm; actual 0.1250 mm)",+     "items": [+      {+       "description": "Pad 1 [unconnected-(U2-PGOOD-Pad1)] of U2 on F.Cu",+       "pos": {+        "x": 122.538,+        "y": 77.9+       },+       "uuid": "d5adf956-8948-46b7-a6a2-7ad83e9214a1"+      },+      {+       "description": "Pad 11 [GND] of U2 on F.Cu",+       "pos": {+        "x": 122.450002,+        "y": 76.999999+       },+       "uuid": "7cb441e9-6a7c-42dc-b22f-fb3c65522b3c"+      }+     ],+     "severity": "error",+     "type": "clearance"+    },+    {+     "description": "Clearance violation ( clearance 0.2000 mm; actual 0.1500 mm)",+     "items": [+      {+       "description": "Pad 2 [/5V_EN] of U2 on F.Cu",+       "pos": {+        "x": 123.35,+        "y": 77.9+       },+       "uuid": "99066f8a-eeb0-4cd8-ad30-7a4d9b0d8313"+      },+      {+       "description": "Pad 3 [+VBAT] of U2 on F.Cu",+       "pos": {+        "x": 123.849998,+        "y": 77.9+       },+       "uuid": "ff018ed4-2127-4cd3-95a9-07bb092e5daa"+      }+     ],+     "severity": "error",+     "type": "clearance"+    },+    {+     "description": "Clearance violation ( clearance 0.2000 mm; actual 0.1800 mm)",+     "items": [+      {+       "description": "Pad 4 [+5V] of U2 on F.Cu",+       "pos": {+        "x": 125.500001,+        "y": 77.700001+       },+       "uuid": "1599671c-4db8-4e53-9ea2-c06583d21771"+      },+      {+       "description": "Pad 10 [GND] of U2 on F.Cu",+       "pos": {+        "x": 123.495,+        "y": 76.5+       },+       "uuid": "6c38065c-3387-4d55-9009-d90ef5b39252"+      }+     ],+     "severity": "error",+     "type": "clearance"+    },+    {+     "description": "Clearance violation ( clearance 0.2000 mm; actual 0.1800 mm)",+     "items": [+      {+       "description": "Pad 5 [/SW] of U2 on F.Cu",+       "pos": {+        "x": 125.500001,+        "y": 75.299999+       },+       "uuid": "2d08cef8-2c43-4563-81bd-6b4f127e455c"+      },+      {+       "description": "Pad 10 [GND] of U2 on F.Cu",+       "pos": {+        "x": 123.495,+        "y": 76.5+       },+       "uuid": "6c38065c-3387-4d55-9009-d90ef5b39252"+      }+     ],+     "severity": "error",+     "type": "clearance"+    },+    {+     "description": "Clearance violation ( clearance 0.2000 mm; actual 0.1500 mm)",+     "items": [+      {+       "description": "Pad 6 [/SW] of U2 on F.Cu",+       "pos": {+        "x": 123.849998,+        "y": 75.1+       },+       "uuid": "1673390f-10d5-4f67-8c26-b2a9dfc5eee4"+      },+      {+       "description": "Pad 7 [unconnected-(U2-BOOT-Pad7)] of U2 on F.Cu",+       "pos": {+        "x": 123.35,+        "y": 75.1+       },+       "uuid": "034ceb01-701a-4eb0-aa47-edf11e31e517"+      }+     ],+     "severity": "error",+     "type": "clearance"+    },+    {+     "description": "Clearance violation ( clearance 0.2000 mm; actual 0.1250 mm)",+     "items": [+      {+       "description": "Pad 8 [/5V_VCC] of U2 on F.Cu",+       "pos": {+        "x": 122.538,+        "y": 75.1+       },+       "uuid": "bcb57037-3d40-497e-b16a-a1be6387308a"+      },+      {+       "description": "Pad 9 [+5V] of U2 on F.Cu",+       "pos": {+        "x": 122.450002,+        "y": 76.000001+       },+       "uuid": "15c3b4a7-76bc-4766-a565-729d03b30352"+      }+     ],+     "severity": "error",+     "type": "clearance"+    },+    {+     "description": "Clearance violation ( clearance 0.2000 mm; actual 0.1250 mm)",+     "items": [+      {+       "description": "Pad 9 [+5V] of U2 on F.Cu",+       "pos": {+        "x": 122.450002,+        "y": 76.000001+       },+       "uuid": "15c3b4a7-76bc-4766-a565-729d03b30352"+      },+      {+       "description": "Pad 10 [GND] of U2 on F.Cu",+       "pos": {+        "x": 123.495,+        "y": 76.5+       },+       "uuid": "6c38065c-3387-4d55-9009-d90ef5b39252"+      }+     ],+     "severity": "error",+     "type": "clearance"+    },+    {+     "description": "Footprint has malformed courtyard (not a closed shape)",+     "items": [+      {+       "description": "Footprint Q2",+       "pos": {+        "x": 154.7,+        "y": 115.5+       },+       "uuid": "048cd914-d217-4fed-b71d-cf01226c3bfd"+      }+     ],+     "severity": "error",+     "type": "malformed_courtyard"+    },+    {+     "description": "Footprint has malformed courtyard (not a closed shape)",+     "items": [+      {+       "description": "Footprint Q5",+       "pos": {+        "x": 154.7,+        "y": 76.5+       },+       "uuid": "1f171934-f2d2-4f3a-9efa-42ff4f67ba74"+      }+     ],+     "severity": "error",+     "type": "malformed_courtyard"+    },+    {+     "description": "Footprint has malformed courtyard (not a closed shape)",+     "items": [+      {+       "description": "Footprint Q6",+       "pos": {+        "x": 154.7,+        "y": 83.5+       },+       "uuid": "264b31b8-9597-45d1-88b5-2dab7cb8b533"+      }+     ],+     "severity": "error",+     "type": "malformed_courtyard"+    },+    {+     "description": "Footprint has malformed courtyard (not a closed shape)",+     "items": [+      {+       "description": "Footprint Q4",+       "pos": {+        "x": 154.2,+        "y": 102.0+       },+       "uuid": "5a696c0c-c1c2-4399-9b5f-e8dfc4298ed1"+      }+     ],+     "severity": "error",+     "type": "malformed_courtyard"+    },+    {+     "description": "Footprint has malformed courtyard (not a closed shape)",+     "items": [+      {+       "description": "Footprint Q3",+       "pos": {+        "x": 154.7,+        "y": 95.5+       },+       "uuid": "6a7b68a0-827d-4ddb-918c-efaa36891c18"+      }+     ],+     "severity": "error",+     "type": "malformed_courtyard"+    },+    {+     "description": "Footprint has malformed courtyard (not a closed shape)",+     "items": [+      {+       "description": "Footprint Q1",+       "pos": {+        "x": 154.7,+        "y": 108.5+       },+       "uuid": "7a40ae5b-ca91-40e3-aa53-d69109de344f"+      }+     ],+     "severity": "error",+     "type": "malformed_courtyard"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Segment of JP1 on F.Silkscreen",+       "pos": {+        "x": 120.156,+        "y": 75.85+       },+       "uuid": "21074138-db20-43a6-b29c-d240dae5e60d"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC14 on F.Silkscreen",+       "pos": {+        "x": 166.0,+        "y": 127.0+       },+       "uuid": "c85b0b09-37f7-413a-8925-f62c6ff812d2"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC6 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 87.0+       },+       "uuid": "27fc318d-7e9e-43d2-ac49-340351458591"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC10 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 83.0+       },+       "uuid": "fe8c3f56-3df2-4640-a695-0405fbd037e2"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MP1 on F.Silkscreen",+       "pos": {+        "x": 120.0,+        "y": 63.0+       },+       "uuid": "158c5c06-8eb2-4875-9629-c0f23a6a6864"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC18 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 97.0+       },+       "uuid": "b2049744-e9bc-4c75-b1d3-a277ff0266e7"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC13 on F.Silkscreen",+       "pos": {+        "x": 166.0,+        "y": 63.0+       },+       "uuid": "fcadf147-53a4-4183-a7d1-ec45c0c9b7ec"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC15 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 77.0+       },+       "uuid": "89d65d80-16a5-49e4-a0e9-80b2c11891bb"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC7 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 81.0+       },+       "uuid": "6cf507e2-d810-4e30-8f14-afad5d44c217"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC17 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 91.0+       },+       "uuid": "f9cf7766-1a43-4838-8a72-4ef248106721"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC22 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 71.000001+       },+       "uuid": "c4b60334-37e5-4021-8a2f-c608d6813b00"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC20 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 75.000001+       },+       "uuid": "d7e12f71-7c57-4260-9ff7-5fa907152823"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC8 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 85.0+       },+       "uuid": "9eb37643-c91f-440a-80ca-02d8e6d3ee82"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MP2 on F.Silkscreen",+       "pos": {+        "x": 152.0,+        "y": 63.0+       },+       "uuid": "8807f6e7-eebb-4c0c-846e-7b7c95a025c7"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC2 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 62.999999+       },+       "uuid": "4f076f48-1228-49cb-9741-5ee2a6665b60"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MP3 on F.Silkscreen",+       "pos": {+        "x": 152.0,+        "y": 127.0+       },+       "uuid": "87838bc4-6758-44ad-b9fc-1107ccbea2eb"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC23 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 93.0+       },+       "uuid": "29212e90-3749-4152-9ce9-df739f8a0fc5"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC19 on F.Silkscreen",+       "pos": {+        "x": 106.0,+        "y": 127.0+       },+       "uuid": "ec058f1e-d0c5-4f55-8587-e0eb33a7c39e"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC12 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 95.000001+       },+       "uuid": "f970e436-e946-4ad8-9baa-8238f941a283"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC16 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 73.000001+       },+       "uuid": "d6ac8fa5-ffce-48f1-a5be-262f040f248e"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC4 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 65.0+       },+       "uuid": "35dd464f-f125-48f0-ba83-12449ad181f9"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MP4 on F.Silkscreen",+       "pos": {+        "x": 120.0,+        "y": 127.0+       },+       "uuid": "10c209a2-fe75-4fa3-99c1-0dfd9d0f9989"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    },+    {+     "description": "Silkscreen clipped by solder mask",+     "items": [+      {+       "description": "Circle of MC21 on F.Silkscreen",+       "pos": {+        "x": 108.0,+        "y": 89.0+       },+       "uuid": "3681c4f8-c31a-4e5b-9cba-9c7ac6436a3a"+      }+     ],+     "severity": "warning",+     "type": "silk_over_copper"+    }+   ],+   "possiblyTruncatedViolationTypes": [],+   "projectRulesCopied": [],+   "source": "live-editor-snapshot",+   "unconnected": 271,+   "unconnectedCountIsLowerBound": false,+   "unconnectedReportMayBeTruncated": false,+   "violationReportMayBeTruncated": false,+   "warnings": 64,+   "zonesRefilled": true+  },+  "durationMs": 2514,+  "elapsedMs": 2471,+  "error": "",+  "footprintCount": 149,+  "mechanism": "ipc",+  "outline": {+   "maxX": 168.0,+   "maxY": 132.0,+   "minX": 104.0,+   "minY": 58.0+  },+  "output": "",+  "outsideOutline": [],+  "parked": [],+  "placed": true,+  "ratsnest": {+   "method": "minimum spanning tree over pad centres per net",+   "totalMm": 1677.862+  },+  "revision": "f4a72ce03f06db8d179fe54e4b39e46031d0b7e7cc6f6ccb0d55c6f9b5a35506",+  "schemaVersion": 1,+  "source": "live-editor",+  "stale": false,+  "status": "ok",+  "statusVerb": "kicad_status",+  "success": true,+  "timeoutSeconds": 130,+  "withoutCourtyard": [],+  "_t0": 1789245397.1226556,+  "_dt": 2.52+ },+ "wall_seconds": 33.8+}\ No newline at end of file

demo/placement/fable/plan-preview.png

⋯ 1 unchanged line ⋯

demo/placement/fable/plan_placement.py+22−35

@@ -125,6 +125,18 @@ def try_place(p, x, y, r):     p.x, p.y, p.r = round(x, 3), round(y, 3), r; placed[p.ref] = b     return True +# ---------- 1b. machine pins (MP) and machine contacts (MC): FIXED by the scaffold pattern ----------+# A molecule's pins and contacts are its plug-in interface (the scaffold pattern: pins 16 mm+# in from the left and right edges, contacts on a 2 mm pitch). They keep the positions and+# rotations the board came with; the plan only occupies their courtyards and never moves them.+big = {}+contacts = sorted([r for r in parts if re.fullmatch(r"MC\d+", r)], key=lambda r: int(r[2:]))+pins = sorted([r for r in parts if re.fullmatch(r"MP\d+", r)], key=lambda r: int(r[2:]))+fixed = {}+for r in contacts + pins:+    q = parts[r]; q.x, q.y, q.r = q.ox, q.oy, q.orot+    placed[r] = q.box(q.x, q.y, q.r); fixed[r] = (q.x, q.y, q.r)+    big[r] = q # ---------- 1. macro placement by function ---------- cx, cy = (X0 + X1) / 2, (Y0 + Y1) / 2 def nets_of(r): return {n for _, _, n in parts[r].pads}@@ -142,14 +154,14 @@ phase = collections.defaultdict(list) for q in mosfets:     for n in nets_of(q):         if n.startswith("/DRV_SH"): phase[n].append(q)-bridge_x = X1 - MARGIN - 3.7 - 0.6+bridge_x = X1 - MARGIN - 3.7 - 0.6 - 8.0   # left of the MC5/MC9/MC11 contact column at x=164 macro = {} for k, yy in zip(sorted(phase.keys()), (Y1 - 20, cy + 4, Y0 + 22)):   # A bottom, B middle, C top     hs, ls = sorted(phase[k], key=lambda q: not is_high(q))     macro[hs] = (bridge_x, yy - 3.5, 0); macro[ls] = (bridge_x, yy + 3.5, 0)-macro[bulk[1]] = (X1 - MARGIN - 6.8, Y0 + MARGIN + 5.6, 0)      # bulk caps at the +VBAT rail, above the bridge-macro[bulk[0]] = (X1 - MARGIN - 6.8 - 14.2, Y0 + MARGIN + 5.6, 0)-macro[tvs] = (X1 - MARGIN - 6.8 - 14.2 - 11.5, Y0 + MARGIN + 2.5, 0)  # TVS on the same rail+macro[bulk[1]] = (X1 - MARGIN - 12.0, Y0 + 15.5, 0)      # bulk caps at the +VBAT rail, under the top contacts, above the bridge+macro[bulk[0]] = (X1 - MARGIN - 12.0 - 14.2, Y0 + 15.5, 0)+macro[tvs] = (X1 - MARGIN - 12.0 - 14.2 - 11.5, Y0 + 15.5, 0)  # TVS on the same rail macro[shunt] = (X1 - MARGIN - 4.2, Y1 - MARGIN - 2.5, 0)           # shunt in the low-side return, below the bridge macro[ina] = (X1 - MARGIN - 4.2 - 9.5, Y1 - MARGIN - 2.2, 0)         # sense amp right at the shunt macro[drv] = (bridge_x - 12.0, cy + 4, 0)                          # gate driver beside the bridge, mid height@@ -159,36 +171,11 @@ macro[xtal] = (bridge_x - 30.0, cy + 16.5, 0)                        # crystal u macro[reg33] = (bridge_x - 30.0, cy - 5.5, 0)                        # 3V3 LDO above the MCU macro[buck] = (X0 + 22, Y0 + 17, 0)                                 # buck near the top-left, fed from the rail macro[schottky] = (X0 + 22, Y0 + 26, 0)-macro[hdr] = (X0 + MARGIN + 4.4, cy + 2, 0)                          # debug header on the left edge-macro[sw] = (X0 + MARGIN + 3.2, cy + 13, 0)                          # reset button under it-big = {r: parts[r] for r in macro}+macro[hdr] = (X0 + 10.5, cy + 2, 0)                          # debug header on the left edge+macro[sw] = (X0 + 10.5, cy + 13.5, 0)                          # reset button under it+for r in macro: big[r] = parts[r] for r, (x, y, rr) in macro.items():-    assert place_near(parts[r], x, y, rr, reach=8.0), r--# ---------- 1b. machine contacts (MC) and machine pins (MP): rows along the left and bottom edges -----------contacts = sorted([r for r in parts if re.fullmatch(r"MC\d+", r)], key=lambda r: int(r[2:]))-pins = sorted([r for r in parts if re.fullmatch(r"MP\d+", r)], key=lambda r: int(r[2:]))-for r, (x, y) in zip(pins, [(X0 + MARGIN + 3.2, Y0 + MARGIN + 3.2), (X0 + MARGIN + 3.2, Y1 - MARGIN - 3.2), (cx - 12, Y1 - MARGIN - 3.2), (X0 + MARGIN + 3.2, Y0 + 24)]):-    assert place_near(parts[r], x, y, 0, reach=6.0), r-# contacts packed along edge lanes, big ones first so the small ones fill what is left-queue = sorted(contacts, key=lambda r: -parts[r].cw); gap = 0.9-lanes = [  # (axis, fixed coordinate, start, end): 'v' walks y along a vertical lane at x; 'h' walks x along a horizontal lane at y-    ("v", X0 + MARGIN, Y0 + MARGIN + 7.5, cy - 9),-    ("v", X0 + MARGIN, cy + 20, Y1 - MARGIN - 8),-    ("h", Y1 - MARGIN, X0 + MARGIN + 7.5, X1 - MARGIN - 20),-    ("h", Y0 + MARGIN, X0 + MARGIN + 7.5, X1 - MARGIN - 38),-    ("h", Y1 - MARGIN - 6.5, X0 + MARGIN + 7.5, X1 - MARGIN - 20),-]-for axis, fixed, a0, a1 in lanes:-    pos = a0-    for r in list(queue):-        q = parts[r]; span = q.ch if axis == "v" else q.cw-        if pos + span > a1: continue-        if axis == "v": ok = place_near(q, fixed + q.cw / 2, pos + q.ch / 2, 0, reach=2.0)-        else:           ok = place_near(q, pos + q.cw / 2, fixed - q.ch / 2, 0, reach=2.0)-        if ok: queue.remove(r); pos += span + gap-assert not queue, ("contacts left over", queue)-for r in contacts + pins: big[r] = parts[r]+    assert place_near(parts[r], x, y, rr, reach=20.0), r  # ---------- 2. attach passives to anchors ---------- small = [p for r, p in parts.items() if r not in big]@@ -259,8 +246,8 @@ def ratsnest(use_plan):             pts += [(x, y) for x, y, pn in p.pad_world(*pos) if pn == n]         tot += mst_len(pts)     return tot-plan = {r: {"x": p.x, "y": p.y, "rotation": p.r, "side": "F.Cu", "value": p.val, "anchor": (anchor_for(p) if r not in big else None)} for r, p in parts.items() if p.x is not None}-report = {"outline": [X0, Y0, X1, Y1], "placed": len(plan), "unplaced": unplaced,+plan = {r: {"x": p.x, "y": p.y, "rotation": p.r, "side": "F.Cu", "value": p.val, "anchor": (anchor_for(p) if r not in big else None)} for r, p in parts.items() if p.x is not None and r not in fixed}+report = {"outline": [X0, Y0, X1, Y1], "placed": len(plan), "fixedInterface": fixed, "unplaced": unplaced,           "ratsnest_original_mm": round(ratsnest(False), 1), "ratsnest_plan_mm": round(ratsnest(True), 1),           "macro": {k: (parts[k].x, parts[k].y, parts[k].r) for k in list(big)}} json.dump({"report": report, "plan": plan}, open(OUT, "w"), indent=1)

demo/placement/fable/state-clean.jsonadded+6352

@@ -0,0 +1,6352 @@+{+  "_hint": "Use this revision as expectedRevision in kicad_move_footprint. Coordinates are mm, +y down; courtyard boxes are board-frame and per side. Cluster by nets[].refs, place decoupling caps beside their IC, keep the power stage together, and watch ratsnest.totalMm fall. kicad_placement_validate is the check.",+  "_timeoutHint": "ab waits up to 130s for this verb before the request times out. If it's a long operation (cloud open / download / export), DON'T treat a timeout as failure — the work usually keeps running on the bridge. Poll `kicad_status` until it reports done.",+  "boardPath": "C:/Users/arav/Downloads/adom-gate/esc-demo/clean/esc-g431-unplaced.kicad_pcb",+  "bridgeVersion": "1.0.3",+  "copperLayers": [+    "F.Cu",+    "In1.Cu",+    "In2.Cu",+    "B.Cu"+  ],+  "courtyardOverlapCount": 0,+  "durationMs": 205,+  "elapsedMs": 148,+  "error": "",+  "footprintCount": 149,+  "footprints": [+    {+      "courtyard": {+        "maxX": 235.9,+        "maxY": 110.26,+        "minX": 233.9,+        "minY": 108.26+      },+      "courtyardSource": "courtyard",+      "footprint": "TestPoint:TestPoint_Pad_D1.0mm",+      "insideOutline": false,+      "locked": false,+      "padCount": 1,+      "pads": [+        {+          "net": "+VBAT",+          "pad": "1"+        }+      ],+      "ref": "TP8",+      "rotation": 0.0,+      "side": "F.Cu",+      "uuid": "005446c0-e2df-4940-afea-5fbbaac73964",+      "value": "+VBAT",+      "x": 234.9,+      "y": 109.26+    },+    {+      "courtyard": {+        "maxX": 177.6,+        "maxY": 127.06,+        "minX": 173.0,+        "minY": 121.76+      },+      "courtyardSource": "courtyard",+      "footprint": "Regulator_CDT:TPSM336_int-buck",+      "insideOutline": false,+      "locked": false,+      "padCount": 11,+      "pads": [+        {+          "net": "unconnected-(U2-PGOOD-Pad1)",+          "pad": "1"+        },+        {+          "net": "/5V_EN",+          "pad": "2"+        },+        {+          "net": "+VBAT",+          "pad": "3"+        },+        {+          "net": "+5V",+          "pad": "4"+        },+        {+          "net": "/SW",+          "pad": "5"+        },+        {+          "net": "/SW",+          "pad": "6"+        },+        {+          "net": "unconnected-(U2-BOOT-Pad7)",+          "pad": "7"+        },+        {+          "net": "/5V_VCC",+          "pad": "8"+        },+        {+          "net": "+5V",+          "pad": "9"+        },+        {+          "net": "GND",+          "pad": "10"+        },+        {+          "net": "GND",+          "pad": "11"+        }+      ],+      "ref": "U2",+      "rotation": 0.0,+      "side": "F.Cu",+      "uuid": "008707ce-7fa5-4c36-b31e-6bc141ce5121",+      "value": "TPSM365R6V5RDNR",+      "x": 175.3,+      "y": 124.46+    },+    {+      "courtyard": {+        "maxX": 188.08,+        "maxY": 88.26,+        "minX": 183.58,+        "minY": 85.76+      },+      "courtyardSource": "courtyard",+      "footprint": "Adom Footprint Library:ADOM_JUMPER_4x2",+      "insideOutline": false,+      "locked": false,+      "padCount": 2,+      "pads": [+        {+          "net": "GND",+          "pad": "1"+        },+        {+          "net": "/5V_EN",+          "pad": "2"+        }+      ],+      "ref": "JP1",+      "rotation": 0.0,+      "side": "F.Cu",+      "uuid": "0241f1b9-67a4-4ca7-82fa-1e1893e99e1a",+      "value": "MC_JMP",+      "x": 185.830002,+      "y": 87.01+    },+    {+      "courtyard": {+        "maxX": 166.99,+        "maxY": 127.99,+        "minX": 165.01,+        "minY": 126.01+      },+      "courtyardSource": "courtyard",+      "footprint": "adom-kicad-footprint-library:MachineContactMedium",+      "insideOutline": true,+      "locked": true,+      "padCount": 1,+      "pads": [+        {+          "net": "GND",+          "pad": "1"+        }+      ],+      "ref": "MC14",+      "rotation": 90.0,+      "side": "F.Cu",+      "uuid": "025ce2b8-173a-4008-b1ba-7d13f6ed5868",+      "value": "~",+      "x": 166.0,+      "y": 127.0+    },+    {+      "courtyard": {+        "maxX": 108.99,+        "maxY": 87.99,+        "minX": 107.01,+        "minY": 86.01+      },+      "courtyardSource": "courtyard",+      "footprint": "adom-kicad-footprint-library:MachineContactMedium",+      "insideOutline": true,+      "locked": true,+      "padCount": 1,+      "pads": [+        {+          "net": "GND",+          "pad": "1"+        }+      ],+      "ref": "MC6",+      "rotation": -90.0,+      "side": "F.Cu",+      "uuid": 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false,+      "padCount": 2,+      "pads": [+        {+          "net": "/NEUTRAL",+          "pad": "1"+        },+        {+          "net": "/COMP2_INM_IO1_BEMF_A",+          "pad": "2"+        }+      ],+      "ref": "R26",+      "rotation": 0.0,+      "side": "F.Cu",+      "uuid": "03c74758-b822-470f-9f7a-af308e3424df",+      "value": "10k",+      "x": 224.11,+      "y": 105.79+    },+    {+      "courtyard": {+        "maxX": 218.4,+        "maxY": 91.42,+        "minX": 211.03,+        "minY": 85.76+      },+      "courtyardSource": "courtyard",+      "footprint": "MOSFET_CDT:TDSON-8-1_BSC016N06NS",+      "insideOutline": false,+      "locked": false,+      "padCount": 21,+      "pads": [+        {+          "net": "",+          "pad": ""+        },+        {+          "net": "",+          "pad": ""+        },+        {+          "net": "",+          "pad": ""+        },+        {+          "net": "",+          "pad": ""+        },+        {+          "net": "",+          "pad": 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         "pad": "5"+        }+      ],+      "ref": "Q2",+      "rotation": 0.0,+      "side": "F.Cu",+      "uuid": "048cd914-d217-4fed-b71d-cf01226c3bfd",+      "value": "BSC016N06NS",+      "x": 214.720002,+      "y": 88.59+    },+    {+      "courtyard": {+        "maxX": 108.99,+        "maxY": 83.99,+        "minX": 107.01,+        "minY": 82.01+      },+      "courtyardSource": "courtyard",+      "footprint": "adom-kicad-footprint-library:MachineContactMedium",+      "insideOutline": true,+      "locked": true,+      "padCount": 1,+      "pads": [+        {+          "net": "/TIM15_CH1_DSHOT",+          "pad": "1"+        }+      ],+      "ref": "MC10",+      "rotation": -90.0,+      "side": "F.Cu",+      "uuid": "055539fb-de37-4491-8380-b776ad240b12",+      "value": "~",+      "x": 108.0,+      "y": 83.0+    },+    {+      "courtyard": {+        "maxX": 231.16,+        "maxY": 59.46,+        "minX": 228.2,+        "minY": 58.0+      },+      "courtyardSource": "courtyard",+      "footprint": "Capacitor_SMD:C_0603_1608Metric",+      "insideOutline": false,+      "locked": false,+      "padCount": 2,+      "pads": [+        {+          "net": "+12V",+          "pad": "1"+        },+        {+          "net": "GND",+          "pad": "2"+        }+      ],+      "ref": "C8",+      "rotation": 0.0,+      "side": "F.Cu",+      "uuid": "05a3314c-d51b-4771-9e7d-bbfb57ff6cd6",+      "value": "10u",+      "x": 229.68,+      "y": 58.73+    },+    {+      "courtyard": {+        "maxX": 198.44,+        "maxY": 73.3,+        "minX": 193.84,+        "minY": 71.0+      },+      "courtyardSource": "courtyard",+      "footprint": "Capacitor_SMD:C_1206_3216Metric",+      "insideOutline": false,+      "locked": false,+      "padCount": 2,+      "pads": [+        {+          "net": "+VBAT",+          "pad": "1"+        },+        {+          "net": "GND",+          "pad": "2"+        }+      ],+      "ref": "C14",+      "rotation": 0.0,+      "side": "F.Cu",+      "uuid": 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  "pad": "1"+        }+      ],+      "ref": "MC18",+      "rotation": 0.0,+      "side": "F.Cu",+      "uuid": "186940dd-4201-4119-8e37-15bec07fc0e9",+      "value": "~",+      "x": 108.0,+      "y": 97.0+    },+    {+      "courtyard": {+        "maxX": 236.4,+        "maxY": 72.46,+        "minX": 233.44,+        "minY": 71.0+      },+      "courtyardSource": "courtyard",+      "footprint": "Capacitor_SMD:C_0603_1608Metric",+      "insideOutline": false,+      "locked": false,+      "padCount": 2,+      "pads": [+        {+          "net": "+12V",+          "pad": "1"+        },+        {+          "net": "GND",+          "pad": "2"+        }+      ],+      "ref": "C20",+      "rotation": 0.0,+      "side": "F.Cu",+      "uuid": "1bea4128-e530-479b-ad2e-b9c974565b32",+      "value": "10u",+      "x": 234.92,+      "y": 71.73+    },+    {+      "courtyard": {+        "maxX": 218.24,+        "maxY": 73.3,+        "minX": 213.64,+        "minY": 71.0+      },+      "courtyardSource": 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3,+      "refs": [+        "Q5",+        "R12",+        "R13"+      ]+    },+    {+      "mstLengthMm": 11.622,+      "name": "/GLA",+      "padCount": 3,+      "refs": [+        "Q2",+        "R4",+        "R5"+      ]+    },+    {+      "mstLengthMm": 11.359,+      "name": "/GLB",+      "padCount": 3,+      "refs": [+        "Q4",+        "R9",+        "R10"+      ]+    },+    {+      "mstLengthMm": 6.853,+      "name": "/GLC",+      "padCount": 3,+      "refs": [+        "Q6",+        "R14",+        "R15"+      ]+    },+    {+      "mstLengthMm": 69.748,+      "name": "/HSE_IN",+      "padCount": 3,+      "refs": [+        "C35",+        "U5",+        "Y1"+      ]+    },+    {+      "mstLengthMm": 71.19,+      "name": "/HSE_OUT",+      "padCount": 3,+      "refs": [+        "C36",+        "U5",+        "Y1"+      ]+    },+    {+      "mstLengthMm": 99.651,+      "name": "/TIM15_CH1_DSHOT",+      "padCount": 3,+      "refs": [+        "MC10",+        "TP9",+        "U5"+      ]+    },+    {+      "mstLengthMm": 38.219,+      "name": "/TIM1_CH3_INHA",+      "padCount": 3,+      "refs": [+        "TP3",+        "U4",+        "U5"+      ]+    },+    {+      "mstLengthMm": 101.12,+      "name": "GND_OUT",+      "padCount": 3,+      "refs": [+        "MC3",+        "R32",+        "U6"+      ]+    },+    {+      "mstLengthMm": 117.153,+      "name": "/5V_EXT",+      "padCount": 2,+      "refs": [+        "D2",+        "MC2"+      ]+    },+    {+      "mstLengthMm": 63.838,+      "name": "/5V_VCC",+      "padCount": 2,+      "refs": [+        "C1",+        "U2"+      ]+    },+    {+      "mstLengthMm": 51.167,+      "name": "/DRV_BSTA",+      "padCount": 2,+      "refs": [+        "C12",+        "U4"+      ]+    },+    {+      "mstLengthMm": 52.888,+      "name": "/DRV_BSTB",+      "padCount": 2,+      "refs": [+        "C13",+        "U4"+      ]+    },+    {+      "mstLengthMm": 53.694,+      "name": "/DRV_BSTC",+      "padCount": 2,+      "refs": [+        "C21",+        "U4"+      ]+    },+    {+      "mstLengthMm": 35.2,+      "name": "/DRV_GHB",+      "padCount": 2,+      "refs": [+        "R7",+        "U4"+      ]+    },+    {+      "mstLengthMm": 50.976,+      "name": "/DRV_GHC",+      "padCount": 2,+      "refs": [+        "R12",+        "U4"+      ]+    },+    {+      "mstLengthMm": 32.113,+      "name": "/DRV_GLA",+      "padCount": 2,+      "refs": [+        "R4",+        "U4"+      ]+    },+    {+      "mstLengthMm": 47.2,+      "name": "/DRV_GLB",+      "padCount": 2,+      "refs": [+        "R9",+        "U4"+      ]+    },+    {+      "mstLengthMm": 23.738,+      "name": "/DRV_GLC",+      "padCount": 2,+      "refs": [+        "R14",+        "U4"+      ]+    },+    {+      "mstLengthMm": 100.74,+      "name": "/E_STOP",+      "padCount": 2,+      "refs": [+        "MC12",+        "R22"+      ]+    },+    {+      "mstLengthMm": 13.023,+      "name": "/IBAT_SENSE",+      "padCount": 2,+      "refs": [+        "U5",+        "U6"+      ]+    },+    {+      "mstLengthMm": 23.266,+      "name": "/MCU_LED",+      "padCount": 2,+      "refs": [+        "R16",+        "U5"+      ]+    },+    {+      "mstLengthMm": 19.982,+      "name": "/PB6",+      "padCount": 2,+      "refs": [+        "R17",+        "U5"+      ]+    },+    {+      "mstLengthMm": 18.059,+      "name": "/PB7",+      "padCount": 2,+      "refs": [+        "R18",+        "U5"+      ]+    },+    {+      "mstLengthMm": 25.548,+      "name": "/RPM",+      "padCount": 2,+      "refs": [+        "TP11",+        "U5"+      ]+    },+    {+      "mstLengthMm": 1.662,+      "name": "/SW",+      "padCount": 2,+      "refs": [+        "U2"+      ]+    },+    {+      "mstLengthMm": 18.426,+      "name": "/TIM1_CH1N_INLC",+      "padCount": 2,+      "refs": [+        "U4",+        "U5"+      ]+    },+    {+      "mstLengthMm": 18.505,+      "name": "/TIM1_CH1_INHC",+      "padCount": 2,+      "refs": [+        "U4",+        "U5"+      ]+    },+    {+      "mstLengthMm": 18.451,+      "name": "/TIM1_CH2N_INLB",+      "padCount": 2,+      "refs": [+        "U4",+        "U5"+      ]+    },+    {+      "mstLengthMm": 18.533,+      "name": "/TIM1_CH2_INHB",+      "padCount": 2,+      "refs": [+        "U4",+        "U5"+      ]+    },+    {+      "mstLengthMm": 18.477,+      "name": "/TIM1_CH3N_INLA",+      "padCount": 2,+      "refs": [+        "U4",+        "U5"+      ]+    },+    {+      "mstLengthMm": 23.242,+      "name": "Net-(LED1-A)",+      "padCount": 2,+      "refs": [+        "LED1",+        "R6"+      ]+    },+    {+      "mstLengthMm": 37.351,+      "name": "Net-(LED2-A)",+      "padCount": 2,+      "refs": [+        "LED2",+        "R11"+      ]+    },+    {+      "mstLengthMm": 24.18,+      "name": "Net-(LED3-A)",+      "padCount": 2,+      "refs": [+        "LED3",+        "R16"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(J1-JRCLK{slash}NC-Pad9)",+      "padCount": 1,+      "refs": [+        "J1"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(J1-JTDI{slash}NC-Pad10)",+      "padCount": 1,+      "refs": [+        "J1"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(J1-JTDO{slash}SWO-Pad8)",+      "padCount": 1,+      "refs": [+        "J1"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(J1-NC-Pad1)",+      "padCount": 1,+      "refs": [+        "J1"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(J1-NC-Pad2)",+      "padCount": 1,+      "refs": [+        "J1"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(SW1-Pad1)",+      "padCount": 1,+      "refs": [+        "SW1"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(SW1-Pad4)",+      "padCount": 1,+      "refs": [+        "SW1"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U2-BOOT-Pad7)",+      "padCount": 1,+      "refs": [+        "U2"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U2-PGOOD-Pad1)",+      "padCount": 1,+      "refs": [+        "U2"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U3-NC-Pad4)",+      "padCount": 1,+      "refs": [+        "U3"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PA11-Pad33)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PA12-Pad34)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PA15-Pad39)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PB0-Pad16)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PB1-Pad17)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PB11-Pad25)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PB2-Pad18)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PB4-Pad41)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PB5-Pad42)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PB9-Pad46)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PC13-Pad2)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PC14-Pad3)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    },+    {+      "mstLengthMm": 0.0,+      "name": "unconnected-(U5-PC15-Pad4)",+      "padCount": 1,+      "refs": [+        "U5"+      ]+    }+  ],+  "outline": {+    "maxX": 168.0,+    "maxY": 132.0,+    "minX": 104.0,+    "minY": 58.0+  },+  "output": "",+  "outsideOutline": [+    "TP8",+    "U2",+    "JP1",+    "C7",+    "R26",+    "Q2",+    "C8",+    "C14",+    "C12",+    "R10",+    "TP17",+    "R6",+    "TP5",+    "R8",+    "C24",+    "C20",+    "C17",+    "C42",+    "R12",+    "Q5",+    "FB1",+    "TP4",+    "R32",+    "SW1",+    "Q6",+    "C16",+    "C5",+    "C10",+    "U3",+    "J1",+    "C41",+    "TP7",+    "D2",+    "R4",+    "R29",+    "R20",+    "C40",+    "TP3",+    "TP16",+    "TP20",+    "C6",+    "R16",+    "C21",+    "R27",+    "TP9",+    "TP1",+    "R31",+    "TP19",+    "Q4",+    "U5",+    "TP12",+    "C34",+    "C3",+    "C18",+    "Q3",+    "Y1",+    "C1",+    "C44",+    "R2",+    "C2",+    "C15",+    "C39",+    "D1",+    "Q1",+    "C27",+    "LED1",+    "TP13",+    "R21",+    "C38",+    "C37",+    "C23",+    "U1",+    "R13",+    "R28",+    "C4",+    "C33",+    "R19",+    "C29",+    "R1",+    "TP11",+    "TP15",+    "R30",+    "TP2",+    "R17",+    "C45",+    "TP10",+    "R22",+    "C28",+    "C36",+    "R15",+    "C26",+    "C35",+    "TP14",+    "R14",+    "C32",+    "R9",+    "R5",+    "C30",+    "R24",+    "C9",+    "R33",+    "C13",+    "C43",+    "R7",+    "U4",+    "LED3",+    "C19",+    "R25",+    "LED2",+    "C22",+    "TP6",+    "R18",+    "R23",+    "TP18",+    "C25",+    "C31",+    "TP21",+    "R11",+    "C11",+    "U6",+    "R3",+    "R34"+  ],+  "padNetsOmitted": false,+  "parked": [+    "TP8",+    "U2",+    "JP1",+    "C7",+    "R26",+    "Q2",+    "C8",+    "C14",+    "C12",+    "R10",+    "TP17",+    "R6",+    "TP5",+    "R8",+    "C24",+    "C20",+    "C17",+    "C42",+    "R12",+    "Q5",+    "FB1",+    "TP4",+    "R32",+    "SW1",+    "Q6",+    "C16",+    "C5",+    "C10",+    "U3",+    "J1",+    "C41",+    "TP7",+    "D2",+    "R4",+    "R29",+    "R20",+    "C40",+    "TP3",+    "TP16",+    "TP20",+    "C6",+    "R16",+    "C21",+    "R27",+    "TP9",+    "TP1",+    "R31",+    "TP19",+    "Q4",+    "U5",+    "TP12",+    "C34",+    "C3",+    "C18",+    "Q3",+    "Y1",+    "C1",+    "C44",+    "R2",+    "C2",+    "C15",+    "C39",+    "D1",+    "Q1",+    "C27",+    "LED1",+    "TP13",+    "R21",+    "C38",+    "C37",+    "C23",+    "U1",+    "R13",+    "R28",+    "C4",+    "C33",+    "R19",+    "C29",+    "R1",+    "TP11",+    "TP15",+    "R30",+    "TP2",+    "R17",+    "C45",+    "TP10",+    "R22",+    "C28",+    "C36",+    "R15",+    "C26",+    "C35",+    "TP14",+    "R14",+    "C32",+    "R9",+    "R5",+    "C30",+    "R24",+    "C9",+    "R33",+    "C13",+    "C43",+    "R7",+    "U4",+    "LED3",+    "C19",+    "R25",+    "LED2",+    "C22",+    "TP6",+    "R18",+    "R23",+    "TP18",+    "C25",+    "C31",+    "TP21",+    "R11",+    "C11",+    "U6",+    "R3",+    "R34"+  ],+  "ratsnest": {+    "method": "minimum spanning tree over pad centres per net",+    "totalMm": 4476.222+  },+  "revision": "2fbda154e529ed94fb1a19aec91d5e7b6796681192b0134070cfa4f701204265",+  "schemaVersion": 1,+  "socket": "ipc://C:\\Users\\arav\\AppData\\Local\\Temp\\kicad\\api.sock",+  "source": "live-editor",+  "status": "ok",+  "statusVerb": "kicad_status",+  "success": true,+  "timeoutSeconds": 130+}

docs/esc-demo.md+12−10

@@ -6,27 +6,29 @@ The board is [ESC G431](https://wiki.adom.inc/adom/esc-g431), Caleb's single-mot  ## Round 1: placement -The fixture is a copy of the board with everything removed except the Edge.Cuts outline and the 149 footprints, which are parked in a grid to the right of the outline: no tracks, no vias, no zones, no board-level graphics or text (the labels and logo that describe the human layout are gone too). It is public: [esc-g431-unplaced.kicad_pcb](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/clean/esc-g431-unplaced.kicad_pcb), built by [tools/make_placement_fixture.py](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/tools/make_placement_fixture.py) with `--strip-zones --strip-graphics`.+The fixture is a copy of the board with everything removed except the Edge.Cuts outline and the 149 footprints; the 27 machine pins and contacts stay in place and locked, the other 122 are parked in a grid to the right of the outline: no tracks, no vias, no zones, no board-level graphics or text (the labels and logo that describe the human layout are gone too). It is public: [esc-g431-unplaced.kicad_pcb](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/clean/esc-g431-unplaced.kicad_pcb), built by [tools/make_placement_fixture.py](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/tools/make_placement_fixture.py) with `--strip-zones --strip-graphics --keep-refs 'M[CP]\d+'`.  The engines place through three verbs shipped in bridge 1.0.3: `kicad_placement_state` (every footprint's pose, courtyard box and pad nets, the nets and the refs they touch, the outline, a ratsnest length), `kicad_move_footprint` (a batch of moves as one native undo step, refused on courtyard overlap or outside the outline, verified by the read-back courtyard), and `kicad_placement_validate`.  ### Claude Fable 5.1 -Done 2026-09-12 on arav-rog (KiCad 10.0.3). Fable wrote a planner from the netlist: the six MOSFETs in one column on the right edge with high side above low side per phase, the gate driver beside the bridge, the MCU left of the driver with its decoupling ring and the crystal under it, the bulk capacitors and the TVS on the +VBAT rail above the bridge, the shunt in the low-side return with the INA at it, the buck top-left, the debug header and reset button on the left edge, the machine contacts and machine pins along the edges; every two-pad part attached to the multi-pin part it shares the most nets with and placed in expanding rings around the pin it connects to, on the bridge's own courtyard boxes, never overlapping, never outside. The plan: [fable-esc-placement-plan.json](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/esc-placement-plan.json), preview [plan-preview.png](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/plan-preview.png), planner [plan_placement.py](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/plan_placement.py), executor [place_live.py](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/place_live.py).+Done 2026-09-12 on arav-rog (KiCad 10.0.3, bridge 1.0.3). The board is an Adom molecule: its four MP machine pins and 23 MC machine contacts are its plug-in interface to the workcell, set by the scaffold pattern (pins 16 mm in from the left and right edges, contacts on a 2 mm pitch). They are kept in place and locked in the fixture and are not placed by anyone; a first take that moved them was discarded. Fable wrote a planner from the netlist for the other 122 parts: the six MOSFETs in one column with high side above low side per phase, left of the right-edge contacts; the gate driver beside the bridge; the MCU with its decoupling ring and the crystal under it; the bulk capacitors and the TVS on the +VBAT rail under the top contacts; the shunt in the low-side return with the INA at it; the buck top-left; the debug header and reset button right of the contact column; every two-pad part attached to the multi-pin part it shares the most nets with and placed in expanding rings around the pin it connects to, on the bridge's own courtyard boxes, never overlapping, never outside. The plan: [esc-placement-plan.json](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/esc-placement-plan.json), preview [plan-preview.png](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/plan-preview.png), planner [plan_placement.py](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/plan_placement.py), executor [place_live.py](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/place_live.py).  | Measure | Claude Fable 5.1 | |---|---|-| Planning, first read of the board to a dry-run-clean plan | 26 min wall (18:36 to 19:02 UTC), one thread |-| Placement on the board | 149 parts in 25 commits, 36.5 s wall, every commit verified |-| Result | 0 courtyard overlaps, 0 outside the outline, 0 parked, ratsnest 1950 mm (the human layout measures 1645 mm on the same MST metric) |+| Planning | one thread; the planner was written, run and corrected between 18:36 and 20:34 UTC, in a window that also carried the bridge fixes below |+| Placement on the board | 122 parts in 21 commits, 33.8 s wall, every commit verified by the read-back courtyard |+| Result | 0 courtyard overlaps, 0 outside the outline, 0 parked, ratsnest 1678 mm (the human layout measures 1645 mm on the same MST metric) | | Placement DRC | 13 errors, all inherited from the source libraries (six malformed MOSFET courtyards, seven U2 pad clearances), zero from the placement |-| Tokens, the placement thread | 173,781 output, 267,816 cache write, 79,103,302 cache read, 3,254 input over 124 turns |-| Dollars at API list price, the thread | $31.85 (Fable 5.1: $10 in, $50 out, $0.25 cache read, $12.50 cache write per MTok, claude.com/pricing 2026-09-12), 16% of a $200/month plan |-| Agents | 2 engineering agents ran during the window building and then fixing the placement verbs (bridge development, not placement); with them, 345,148 output tokens and $65.84, 33% of the plan |+| Tokens, the thread, whole window | 322,215 output, 479,964 cache write, 176,904,951 cache read, 6,974 input over 253 turns |+| Dollars at API list price | $66.41 for the thread, 33% of a $200/month plan (Fable 5.1: $10 in, $50 out, $0.25 cache read, $12.50 cache write per MTok, claude.com/pricing 2026-09-12) |+| Agents | 2 engineering agents ran in the window, building and then fixing the placement verbs (bridge development, not placement); with them $100.40, 50% of the plan | -Evidence: [fable-place-log.json](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/fable-place-log.json) (every reply with timestamps), [fable-stats.json](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/fable-stats.json).+The window is honest and generous against Fable: it spans everything the thread did from the first planning line to the accepted take, including the discarded first take, the bridge bug it exposed and its fix, three gate runs and the etiquette work. The placement-only share is smaller and is not separable from the transcript, so the larger number is the one reported. -What the run taught the bridge: KiCad's API replaces a footprint on update rather than moving it, and deserialises its pads at the absolute coordinates the proto carries, so the first take moved only the anchors. The bridge now transforms every child of the footprint proto client-side and verifies the read-back courtyard, not the anchor.+Evidence: [fable2-place-log.json](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/fable2-place-log.json) (every reply with timestamps), [fable-stats.json](https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/placement/fable/fable-stats.json).++What the run taught the bridge: KiCad's API replaces a footprint on update rather than moving it, and deserialises its pads at the absolute coordinates the proto carries, so the first take moved only the anchors. The bridge now transforms every child of the footprint proto client-side and verifies the read-back courtyard, not the anchor. And a molecule's interface must be fixed in the fixture, which the fixture tool now does with `--keep-refs`.  ### GPT-6 Astra in Codex

docs/esc-placement-astra-prompt.md+2−2

@@ -4,7 +4,7 @@ Paste everything below the line into Codex (GPT-6 Astra) in Hydrogen. Astra plac  --- -You are GPT-6 Astra in Codex inside Hydrogen. John wants a screen recording of you placing a real board: the Adom ESC G431 (single-motor drone ESC: STM32G431, DRV8300 gate driver, six MOSFET 3-phase bridge, TPSM365 buck, INA181 current sense, 64 x 74 mm, 4 layers, 149 parts, 59 nets). You start from a copy where every footprint is parked in a grid to the right of the board outline and no copper exists. You decide where everything goes, land it through the bridge, and report. Do all of it yourself; do not ask John to do any step you can do.+You are GPT-6 Astra in Codex inside Hydrogen. John wants a screen recording of you placing a real board: the Adom ESC G431 (single-motor drone ESC: STM32G431, DRV8300 gate driver, six MOSFET 3-phase bridge, TPSM365 buck, INA181 current sense, 64 x 74 mm, 4 layers, 149 parts, 59 nets). You start from a copy where every footprint is parked in a grid to the right of the board outline and no copper exists, except the molecule's plug-in interface: the four MP machine pins and the 23 MC machine contacts stay exactly where the scaffold pattern puts them and are locked. They are the board's connection to the Adom workcell, not a placement choice; leave them alone (the verb refuses to move a locked part) and place everything else around them. You decide where everything goes, land it through the bridge, and report. Do all of it yourself; do not ask John to do any step you can do.  Read first: - The placement section of the kicad-bridge skill: `adom-wiki pkg install adom/kicad-bridge`, then read the "Placement" section of the kicad-bridge SKILL.md and the kicad-bridge-esc-demo notes on the page: https://wiki.adom.inc/adom/kicad-bridge/files/demo/placement/README.md@@ -17,7 +17,7 @@ Rules that are not optional: 2. Never save the board (the fixture stays unplaced on disk for the next take), never touch any other board, never kill KiCad. 3. Two ways to get the board on camera; pick by whose box it is. On a user's box everything stays in the background: never bring a KiCad window forward, never move the mouse, never send real keystrokes; switch KiCad to its fallback canvas (read `C:/Users/<user>/AppData/Roaming/kicad/10.0/kicad_common.json` with `read_file`, keep a copy, set `graphics.canvas_type` to 2, `write_file` while KiCad is closed, restore afterwards), open with `kicad_open_board {"filePath": B}` and record the window; the fallback canvas paints while covered. On arav-rog for THIS take, which is a dedicated test box and John wants the best picture, use the OpenGL canvas in the foreground instead: `kicad_open_board {"filePath": B, "foreground": true, "foregroundReason": "John asked for a screen recording of Astra placing the ESC on the test box"}`, maximize with `desktop_ui_window {"hwnd": H, "action": "maximize"}`, wait until the status bar no longer says "Loading Footprint Libraries", `kicad_send_key {"hwnd": H, "key": "ctrl+home"}` (Zoom to All Objects so the outline and the parking grid are both in view), and about 25 s after opening `desktop_bring_to_front {"hwnd": H, "reason": "..."}` once, because the etiquette loop pushes a new window back one time. Confirm with `desktop_screenshot_screen {}` that the empty outline and the parked parts are visible and the canvas is not white. -4. Plan the placement yourself from `kicad_placement_state` (the nets tell you what connects to what). This is the part that is judged: a 3-phase bridge wants its six MOSFETs together with the gate driver next to them, the bulk capacitors and TVS on the +VBAT rail, the shunt in the low-side return with the INA at it, decoupling capacitors at their IC pins, the crystal at the MCU, the debug header and reset button at an edge, the MC machine contacts and MP machine pins along the edges. Do not copy Claude's placement (its plan is on the page); make your own. Keep everything inside the outline with no courtyard overlaps; the verb refuses both.+4. Plan the placement yourself from `kicad_placement_state` (the nets tell you what connects to what). This is the part that is judged: a 3-phase bridge wants its six MOSFETs together with the gate driver next to them, the bulk capacitors and TVS on the +VBAT rail, the shunt in the low-side return with the INA at it, decoupling capacitors at their IC pins, the crystal at the MCU, the debug header and reset button at an edge, the MC contacts and MP pins are fixed and locked (the scaffold pattern), so plan around them. Do not copy Claude's placement (its plan is on the page); make your own. Keep everything inside the outline with no courtyard overlaps; the verb refuses both. 5. Record before the first move: on arav-rog `desktop_record_start {"monitor": 0, "audio": false, "fps": 30, "reason": "Astra placing the ESC G431", "maxDurationMs": 1200000}` (foreground OpenGL path); on a user's box `desktop_record_window_start {"hwnd": H, ...}` with the fallback canvas. Then land the plan with `kicad_move_footprint` in batches (six to twelve parts per call is a good rhythm for a viewer; one undo step per call), passing the previous reply's revision as `expectedRevision`. Pause about a second between batches. Do not speed anything up; the video is cut to the action later.  6. Finish with `kicad_placement_validate`; report its ratsnest length, overlap count, outside count and placement DRC. Then `desktop_record_stop`, `pull_file` the MP4, check frames at the start, middle and end, transcode to 1920 wide H.264 (`ffmpeg -i in.mp4 -vf scale=1920:-2 -c:v libx264 -crf 22 -pix_fmt yuv420p -movflags +faststart -an out.mp4`), make a poster, and push both to the adom/codex page under docs/videos/ (`adom-wiki repo push adom/codex --files ...`), confirming the MP4 URL returns 200.