FA-12117 / Robotics frame conventions / Member archive

A shifted velocity reference omits angular motion of the lever arm · case 02

A shifted velocity reference omits angular motion of the lever arm.

Member previewVariant 2 · 3 implementations · 6 checks per implementation

Case contract

In a shared planar frame, v is origin velocity, w is signed angular velocity, r goes from origin to target point. Return target velocity v+[-w*ry,w*rx].

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
forward lever	`[0, 0]`	`[0, 4]`	Failed

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