FA-12103 / Robotics frame conventions / Member archive
An inverse sensor pose negates translation in the wrong frame · case 03
An inverse sensor pose negates translation in the wrong frame.
Case contract
Pose maps child to parent by p_parent=R(q)*p_child+t. Return inverse translation for integer t and quarter-turn q.
Why this case matters
Robot adapters must preserve the declared frame, reference point, and representation conventions across interfaces.
One recorded failure
Sample boundary fixtureThis sample comes from the broken implementation of a controlled reproducer.
| Boundary fixture | Actual | Expected | Outcome |
|---|---|---|---|
| quarter turn | [-3, -6] | [-6, 3] | Failed |
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