Robot evidence needs explicit frames and units

Evidence and interpretation

REP 103 describes SI and right-handed ROS conventions, including a distinct camera optical orientation. Maha’s proposed preflight requires a declared conversion when two records use different conventions. It should reject an unknown frame rather than guessing from a field name. The conversion also needs a time reference if the relationship between frames changes. Preserve original values along with normalized values so a reviewer can reproduce the transformation and identify rounding or sign errors.

Proposed evidence workflow

1. Name each frame, unit and axis convention in the task package.
2. Bind any transform or calibration to its revision and applicable interval.
3. Treat an absent conversion as unresolved, not as an identity transform.

Worked illustration

Our grid uses integer cell coordinates and discrete ticks. Its x and y are not claimed to be meters and its ticks are not measured seconds. The package binds those conventions. Changing the unit label while retaining the same trace is a verifier failure, not a harmless formatting edit.

Limits

The prototype validates only its own fixed grid convention. A ROS transform adapter, uncertainty propagation and physical calibration checks are future work, not implemented features.

Sources and review

Continue reading

• Mobility results need localization context
• Separate perception evidence from task completion