Name the frame for each field
Position and orientation values need a reference. Ask whether they are expressed relative to the robot base, tool, camera, world, or another frame defined by the source. Describe axis directions and frame names in a dictionary. A number such as an x displacement cannot be interpreted reliably when the frame is implied only by a familiar-looking field name.
Document relationships between frames
If the project needs transforms, request the relevant measurements or documented calibration outputs and their applicability. Identify which relationships are fixed and which can change during a session. A wrist camera moves with the robot, while an external camera may remain fixed unless repositioned. Record configuration changes so values are not applied to episodes from an incompatible setup.
Clarify relative motion
An incremental command can be expressed in a fixed frame or a moving local frame. Specify the interpretation and the state to which the increment applies. Orientation representation also needs an explicit convention. Do not rely on a component count to infer meaning, and preserve any source-specific details required to reproduce a transformation.
Test with simple examples
Use a short episode with an easy-to-understand movement and compare the documented axes to the observed direction. Review transformed values alongside originals where possible. This is a semantic check, not proof that every calibration is accurate. Record remaining uncertainty and ask the source for clarification before combining spatial fields from different robots or camera configurations.
Review checklist
- Name every spatial reference frame
- Record transforms and configuration scope
- Define relative-action interpretation
- Review simple movements against axes