{"abstract":"An inverse sensor pose negates translation in the wrong frame.","category":"Robotics frame conventions","checks":6,"contract":"Pose maps child to parent by p_parent=R(q)*p_child+t. Return inverse translation for integer t and quarter-turn q.","evaluation_group":"model-c5108ae3955b8b11","failed_approach":"Rotating the negative translation by the forward orientation only works at some headings.","family":"z-robotics_frames-inverse-pose-origin","id":"FA-12101","implementations":{"attempt":{"sha256":"090c364a99aca2fbcc3f13b86dadc5a3170abf388cd3f8edf9fc7b6bfb6de1c5","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(t, q):\n    return list(rot([-t[0],-t[1]],q))\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\ncheck('quarter turn', solve([N,2*N],1), [-2*N,N])\ncheck('negative quarter', solve([N,2*N],-1), [2*N,-N])\ncheck('identity', solve([N,2*N],0), [-N,-2*N])\ncheck('half turn', solve([N,2*N],2), [N,2*N])\ncheck('origin', solve([0,0],1), [0,0])\ncheck('full turns', solve([N,-N],5), [N,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":"271434660dde3e375e2dd475fdf709ec21acee8513b58a19553b5a2bc6f8b4a5","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(t, q):\n    return [-t[0],-t[1]]\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\ncheck('quarter turn', solve([N,2*N],1), [-2*N,N])\ncheck('negative quarter', solve([N,2*N],-1), [2*N,-N])\ncheck('identity', solve([N,2*N],0), [-N,-2*N])\ncheck('half turn', solve([N,2*N],2), [N,2*N])\ncheck('origin', solve([0,0],1), [0,0])\ncheck('full turns', solve([N,-N],5), [N,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"},"fixed":{"sha256":"c7d8caf0a640864b82a91dd32bc70ef04a65325a8a1923be30e01638e66ad766","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(t, q):\n    return list(rot([-t[0],-t[1]],-q))\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\ncheck('quarter turn', solve([N,2*N],1), [-2*N,N])\ncheck('negative quarter', solve([N,2*N],-1), [2*N,-N])\ncheck('identity', solve([N,2*N],0), [-N,-2*N])\ncheck('half turn', solve([N,2*N],2), [N,2*N])\ncheck('origin', solve([0,0],1), [0,0])\ncheck('full turns', solve([N,-N],5), [N,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-inverse-pose-origin","generated_at":"2026-09-29T14:38:53.733618+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.","repair":"Use inverse rotation on both coordinates and negated origin.","root_cause":"Translation is negated without applying the inverse orientation.","sha256":"86b8b2281b199258c9b5cc20057f52107e1190f85141919652322ac7c59ded19","title":"An inverse sensor pose negates translation in the wrong frame · case 01","variant":1,"variant_policy":"Five numbered records share a model and may reuse boundary fixtures.","verification":{"attempt":{"elapsed_ms":39.048,"exit_code":1,"observations":[{"actual":[2,-1],"check":"quarter turn","expected":[-2,1],"passed":false},{"actual":[-2,1],"check":"negative quarter","expected":[2,-1],"passed":false},{"actual":[-1,-2],"check":"identity","expected":[-1,-2],"passed":true},{"actual":[1,2],"check":"half turn","expected":[1,2],"passed":true},{"actual":[0,0],"check":"origin","expected":[0,0],"passed":true},{"actual":[-1,-1],"check":"full turns","expected":[1,1],"passed":false}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"quarter turn\", \"actual\": [2, -1], \"expected\": [-2, 1], \"passed\": false}, {\"check\": \"negative quarter\", \"actual\": [-2, 1], \"expected\": [2, -1], \"passed\": false}, {\"check\": \"identity\", \"actual\": [-1, -2], \"expected\": [-1, -2], \"passed\": true}, {\"check\": \"half turn\", \"actual\": [1, 2], \"expected\": [1, 2], \"passed\": true}, {\"check\": \"origin\", \"actual\": [0, 0], \"expected\": [0, 0], \"passed\": true}, {\"check\": \"full turns\", \"actual\": [-1, -1], \"expected\": [1, 1], \"passed\": false}], \"passed\": false}\n"},"broken":{"elapsed_ms":40.753,"exit_code":1,"observations":[{"actual":[-1,-2],"check":"quarter turn","expected":[-2,1],"passed":false},{"actual":[-1,-2],"check":"negative quarter","expected":[2,-1],"passed":false},{"actual":[-1,-2],"check":"identity","expected":[-1,-2],"passed":true},{"actual":[-1,-2],"check":"half turn","expected":[1,2],"passed":false},{"actual":[0,0],"check":"origin","expected":[0,0],"passed":true},{"actual":[-1,1],"check":"full turns","expected":[1,1],"passed":false}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"quarter turn\", \"actual\": [-1, -2], \"expected\": [-2, 1], \"passed\": false}, {\"check\": \"negative quarter\", \"actual\": [-1, -2], \"expected\": [2, -1], \"passed\": false}, {\"check\": \"identity\", \"actual\": [-1, -2], \"expected\": [-1, -2], \"passed\": true}, {\"check\": \"half turn\", \"actual\": [-1, -2], \"expected\": [1, 2], \"passed\": false}, {\"check\": \"origin\", \"actual\": [0, 0], \"expected\": [0, 0], \"passed\": true}, {\"check\": \"full turns\", \"actual\": [-1, 1], \"expected\": [1, 1], \"passed\": false}], \"passed\": false}\n"},"fixed":{"elapsed_ms":38.412,"exit_code":0,"observations":[{"actual":[-2,1],"check":"quarter turn","expected":[-2,1],"passed":true},{"actual":[2,-1],"check":"negative quarter","expected":[2,-1],"passed":true},{"actual":[-1,-2],"check":"identity","expected":[-1,-2],"passed":true},{"actual":[1,2],"check":"half turn","expected":[1,2],"passed":true},{"actual":[0,0],"check":"origin","expected":[0,0],"passed":true},{"actual":[1,1],"check":"full turns","expected":[1,1],"passed":true}],"passed":true,"stderr":"","stdout":"{\"observations\": [{\"check\": \"quarter turn\", \"actual\": [-2, 1], \"expected\": [-2, 1], \"passed\": true}, {\"check\": \"negative quarter\", \"actual\": [2, -1], \"expected\": [2, -1], \"passed\": true}, {\"check\": \"identity\", \"actual\": [-1, -2], \"expected\": [-1, -2], \"passed\": true}, {\"check\": \"half turn\", \"actual\": [1, 2], \"expected\": [1, 2], \"passed\": true}, {\"check\": \"origin\", \"actual\": [0, 0], \"expected\": [0, 0], \"passed\": true}, {\"check\": \"full turns\", \"actual\": [1, 1], \"expected\": [1, 1], \"passed\": true}], \"passed\": true}\n"}},"verified":true,"visibility":"public"}