{"abstract":"Optical camera coordinates are mistaken for forward-left-up coordinates.","category":"Robotics frame conventions","checks":6,"contract":"For integer optical [right,down,forward], return body [forward,left,up] at the same origin.","contract_signature":"v","evaluation_group":"model-e5aaf696de46ba05","failed_approach":"Reordering axes without reversing right and down leaves two mirrored body axes.","family":"z-robotics_frames-optical-body-axis","id":"FA-12091","implementations":{"attempt":{"sha256":"24f04c7c2f41e88006342251b75d341c38807103d33e3a6504a897e9795822d6","source":"\"\"\"Failure Map reference implementation. Python standard library only.\"\"\"\nimport json\n\ndef rot(v, q):\n    x,y = v\n    return [(x,y),(-y,x),(-x,-y),(y,-x)][q%4]\n\nN = 1\nobservations = []\ndef solve(v):\n    return [v[2],v[0],v[1]]\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\ncheck('right axis', solve([N,0,0]), [0,-N,0])\ncheck('down axis', solve([0,N,0]), [0,0,-N])\ncheck('forward axis', solve([0,0,N]), [N,0,0])\ncheck('origin', solve([0,0,0]), [0,0,0])\ncheck('mixed', solve([N,2*N,3*N]), [3*N,-N,-2*N])\ncheck('negative axes', solve([-N,-2*N,-3*N]), [-3*N,N,2*N])\nprint(json.dumps({\"observations\": observations, \"passed\": all(x[\"passed\"] for x in observations)}, ensure_ascii=False))\nraise SystemExit(0 if all(x[\"passed\"] for x in observations) else 1)\n"},"broken":{"sha256":"df74a45155c2c6d6ad2c539e2360df9595103911e8d3b09e8304378e810f3ab9","source":"\"\"\"Failure Map reference implementation. Python standard library only.\"\"\"\nimport json\n\ndef rot(v, q):\n    x,y = v\n    return [(x,y),(-y,x),(-x,-y),(y,-x)][q%4]\n\nN = 1\nobservations = []\ndef solve(v):\n    return v\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\ncheck('right axis', solve([N,0,0]), [0,-N,0])\ncheck('down axis', solve([0,N,0]), [0,0,-N])\ncheck('forward axis', solve([0,0,N]), [N,0,0])\ncheck('origin', solve([0,0,0]), [0,0,0])\ncheck('mixed', solve([N,2*N,3*N]), [3*N,-N,-2*N])\ncheck('negative axes', solve([-N,-2*N,-3*N]), [-3*N,N,2*N])\nprint(json.dumps({\"observations\": observations, \"passed\": all(x[\"passed\"] for x in observations)}, ensure_ascii=False))\nraise SystemExit(0 if all(x[\"passed\"] for x in observations) else 1)\n"}},"limitations":"Small exact offline frame model; not a robot middleware implementation or continuous pose estimator. This reproducer isolates one failure mechanism. Results cover the supplied fixtures. Variants within a family share a test contract and should remain grouped when constructing evaluation splits. Related mechanisms with a shared evaluation_group must also remain together; these controlled models are not independent production incidents.","method":"Deterministic executable model with adversarial boundary fixtures.","provenance":{"created_by":"Failure Map","dependencies":"Python standard library","family":"z-robotics_frames-optical-body-axis","generated_at":"2026-09-29T14:38:53.688683+00:00","license":"CC0-1.0","python":"3.12.14","seed":1,"split":"open-access"},"relevance":"Robot adapters must preserve the declared frame, reference point, and representation conventions across interfaces.","root_cause":"The camera optical x-right/y-down/z-forward tuple is copied into a body x-forward/y-left/z-up interface.","sha256":"801f0d95a73f2d272af05f2bb49e6ddc8da4ea97fc6d7f1f382cf8a74a92cd80","title":"Optical camera coordinates are mistaken for forward-left-up coordinates · case 01","variant":1,"variant_policy":"Five numbered records share a model and may reuse boundary fixtures.","verified":true,"visibility":"public","verification":{"attempt":{"elapsed_ms":40.781,"exit_code":1,"observations":[{"actual":[0,1,0],"check":"right axis","expected":[0,-1,0],"passed":false},{"actual":[0,0,1],"check":"down axis","expected":[0,0,-1],"passed":false},{"actual":[1,0,0],"check":"forward axis","expected":[1,0,0],"passed":true},{"actual":[0,0,0],"check":"origin","expected":[0,0,0],"passed":true},{"actual":[3,1,2],"check":"mixed","expected":[3,-1,-2],"passed":false},{"actual":[-3,-1,-2],"check":"negative axes","expected":[-3,1,2],"passed":false}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"right axis\", \"actual\": [0, 1, 0], \"expected\": [0, -1, 0], \"passed\": false}, {\"check\": \"down axis\", \"actual\": [0, 0, 1], \"expected\": [0, 0, -1], \"passed\": false}, {\"check\": \"forward axis\", \"actual\": [1, 0, 0], \"expected\": [1, 0, 0], \"passed\": true}, {\"check\": \"origin\", \"actual\": [0, 0, 0], \"expected\": [0, 0, 0], \"passed\": true}, {\"check\": \"mixed\", \"actual\": [3, 1, 2], \"expected\": [3, -1, -2], \"passed\": false}, {\"check\": \"negative axes\", \"actual\": [-3, -1, -2], \"expected\": [-3, 1, 2], \"passed\": false}], \"passed\": false}\n"},"broken":{"elapsed_ms":40.585,"exit_code":1,"observations":[{"actual":[1,0,0],"check":"right axis","expected":[0,-1,0],"passed":false},{"actual":[0,1,0],"check":"down axis","expected":[0,0,-1],"passed":false},{"actual":[0,0,1],"check":"forward axis","expected":[1,0,0],"passed":false},{"actual":[0,0,0],"check":"origin","expected":[0,0,0],"passed":true},{"actual":[1,2,3],"check":"mixed","expected":[3,-1,-2],"passed":false},{"actual":[-1,-2,-3],"check":"negative axes","expected":[-3,1,2],"passed":false}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"right axis\", \"actual\": [1, 0, 0], \"expected\": [0, -1, 0], \"passed\": false}, {\"check\": \"down axis\", \"actual\": [0, 1, 0], \"expected\": [0, 0, -1], \"passed\": false}, {\"check\": \"forward axis\", \"actual\": [0, 0, 1], \"expected\": [1, 0, 0], \"passed\": false}, {\"check\": \"origin\", \"actual\": [0, 0, 0], \"expected\": [0, 0, 0], \"passed\": true}, {\"check\": \"mixed\", \"actual\": [1, 2, 3], \"expected\": [3, -1, -2], \"passed\": false}, {\"check\": \"negative axes\", \"actual\": [-1, -2, -3], \"expected\": [-3, 1, 2], \"passed\": false}], \"passed\": false}\n"}},"member_only":{"stages":["fixed"],"fields":["implementations.fixed","verification.fixed","harness","repair"],"note":"The verified repair, its recorded checks, the repair description, and the scoring harness are available to members."}}