FA-12122 / Robotics frame conventions / Member archive
A force torque is transferred to a new origin with the wrong moment arm · case 02
A force torque is transferred to a new origin with the wrong moment arm.
Case contract
In a common planar basis, return torque about new origin: tau_new=tau_old-(rx*fy-ry*fx). Force and r are integer pairs.
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 |
|---|---|---|---|
| transverse force | 0 | -4 | Failed |
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This record includes three runnable implementations, regression fixtures, execution results, and source hashes.
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