FA-12113 / Robotics frame conventions / Member archive

A mounted sensor offset is added in the world frame · case 03

A mounted sensor offset is added in the world frame.

Member previewVariant 3 · 3 implementations · 6 checks per implementation

Case contract

Given parent world translation a and quarter-turn heading qa, and child translation b in parent coordinates with heading qb, return child world translation. qb does not affect its own origin.

Why this case matters

Robot adapters must preserve the declared frame, reference point, and representation conventions across interfaces.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
rotated mount	`[6, 3]`	`[3, 6]`	Failed

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This record includes three runnable implementations, regression fixtures, execution results, and source hashes.

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