{"abstract":"A static mounting transform expires like a sampled pose.","category":"Robotics frame conventions","checks":6,"contract":"Return translation if an edge is static or its sample_time equals requested_time; otherwise None. No interpolation or extrapolation is permitted for dynamic edges.","evaluation_group":"model-c433533f3e311b2a","failed_approach":"Ignoring timestamps for every edge also admits stale dynamic transforms.","family":"z-robotics_frames-static-transform-validity","id":"FA-12136","implementations":{"attempt":{"sha256":"adf31993fa5068732742cb40fabe87dbf4c8b348c3dbfd791630e54d3e670a2f","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(translation,is_static,sample_time,requested_time):\n    return translation\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\ncheck('old static calibration', solve([N,0],True,0,100+N), [N,0])\ncheck('stale dynamic', solve([N,0],False,0,100+N), None)\ncheck('exact dynamic', solve([N,N],False,N,N), [N,N])\ncheck('future dynamic', solve([N,0],False,N+1,N), None)\ncheck('static earlier query', solve([N,-N],True,100+N,0), [N,-N])\ncheck('zero time dynamic', solve([0,0],False,0,0), [0,0])\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":"2caec7363a5192cb0b804e1bebc9f38aa7fd743b6fc27af2bdffd08d8a9b9066","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(translation,is_static,sample_time,requested_time):\n    return translation if sample_time==requested_time else None\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\ncheck('old static calibration', solve([N,0],True,0,100+N), [N,0])\ncheck('stale dynamic', solve([N,0],False,0,100+N), None)\ncheck('exact dynamic', solve([N,N],False,N,N), [N,N])\ncheck('future dynamic', solve([N,0],False,N+1,N), None)\ncheck('static earlier query', solve([N,-N],True,100+N,0), [N,-N])\ncheck('zero time dynamic', solve([0,0],False,0,0), [0,0])\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":"36ce57af3c162b1a8374bf65b6c0dea1b7a83580cfbc2da60285fb95086a1ee8","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(translation,is_static,sample_time,requested_time):\n    return translation if is_static or sample_time==requested_time else None\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\ncheck('old static calibration', solve([N,0],True,0,100+N), [N,0])\ncheck('stale dynamic', solve([N,0],False,0,100+N), None)\ncheck('exact dynamic', solve([N,N],False,N,N), [N,N])\ncheck('future dynamic', solve([N,0],False,N+1,N), None)\ncheck('static earlier query', solve([N,-N],True,100+N,0), [N,-N])\ncheck('zero time dynamic', solve([0,0],False,0,0), [0,0])\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-static-transform-validity","generated_at":"2026-09-29T14:38:54.235031+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":"Static edges remain valid; dynamic edges require an exact timestamp in this no-interpolation model.","root_cause":"The timestamp tolerance is applied to a static calibration edge.","sha256":"cd88a9f1a4f2186d39e106fd8d806494ff51ec27b4ef98de90e50947438c3aa3","title":"A static mounting transform expires like a sampled pose · case 01","variant":1,"variant_policy":"Five numbered records share a model and may reuse boundary fixtures.","verification":{"attempt":{"elapsed_ms":38.495,"exit_code":1,"observations":[{"actual":[1,0],"check":"old static calibration","expected":[1,0],"passed":true},{"actual":[1,0],"check":"stale dynamic","expected":null,"passed":false},{"actual":[1,1],"check":"exact dynamic","expected":[1,1],"passed":true},{"actual":[1,0],"check":"future dynamic","expected":null,"passed":false},{"actual":[1,-1],"check":"static earlier query","expected":[1,-1],"passed":true},{"actual":[0,0],"check":"zero time dynamic","expected":[0,0],"passed":true}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"old static calibration\", \"actual\": [1, 0], \"expected\": [1, 0], \"passed\": true}, {\"check\": \"stale dynamic\", \"actual\": [1, 0], \"expected\": null, \"passed\": false}, {\"check\": \"exact dynamic\", \"actual\": [1, 1], \"expected\": [1, 1], \"passed\": true}, {\"check\": \"future dynamic\", \"actual\": [1, 0], \"expected\": null, \"passed\": false}, {\"check\": \"static earlier query\", \"actual\": [1, -1], \"expected\": [1, -1], \"passed\": true}, {\"check\": \"zero time dynamic\", \"actual\": [0, 0], \"expected\": [0, 0], \"passed\": true}], \"passed\": false}\n"},"broken":{"elapsed_ms":38.818,"exit_code":1,"observations":[{"actual":null,"check":"old static calibration","expected":[1,0],"passed":false},{"actual":null,"check":"stale dynamic","expected":null,"passed":true},{"actual":[1,1],"check":"exact dynamic","expected":[1,1],"passed":true},{"actual":null,"check":"future dynamic","expected":null,"passed":true},{"actual":null,"check":"static earlier query","expected":[1,-1],"passed":false},{"actual":[0,0],"check":"zero time dynamic","expected":[0,0],"passed":true}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"old static calibration\", \"actual\": null, \"expected\": [1, 0], \"passed\": false}, {\"check\": \"stale dynamic\", \"actual\": null, \"expected\": null, \"passed\": true}, {\"check\": \"exact dynamic\", \"actual\": [1, 1], \"expected\": [1, 1], \"passed\": true}, {\"check\": \"future dynamic\", \"actual\": null, \"expected\": null, \"passed\": true}, {\"check\": \"static earlier query\", \"actual\": null, \"expected\": [1, -1], \"passed\": false}, {\"check\": \"zero time dynamic\", \"actual\": [0, 0], \"expected\": [0, 0], \"passed\": true}], \"passed\": false}\n"},"fixed":{"elapsed_ms":40.411,"exit_code":0,"observations":[{"actual":[1,0],"check":"old static calibration","expected":[1,0],"passed":true},{"actual":null,"check":"stale dynamic","expected":null,"passed":true},{"actual":[1,1],"check":"exact dynamic","expected":[1,1],"passed":true},{"actual":null,"check":"future dynamic","expected":null,"passed":true},{"actual":[1,-1],"check":"static earlier query","expected":[1,-1],"passed":true},{"actual":[0,0],"check":"zero time dynamic","expected":[0,0],"passed":true}],"passed":true,"stderr":"","stdout":"{\"observations\": [{\"check\": \"old static calibration\", \"actual\": [1, 0], \"expected\": [1, 0], \"passed\": true}, {\"check\": \"stale dynamic\", \"actual\": null, \"expected\": null, \"passed\": true}, {\"check\": \"exact dynamic\", \"actual\": [1, 1], \"expected\": [1, 1], \"passed\": true}, {\"check\": \"future dynamic\", \"actual\": null, \"expected\": null, \"passed\": true}, {\"check\": \"static earlier query\", \"actual\": [1, -1], \"expected\": [1, -1], \"passed\": true}, {\"check\": \"zero time dynamic\", \"actual\": [0, 0], \"expected\": [0, 0], \"passed\": true}], \"passed\": true}\n"}},"verified":true,"visibility":"public"}