Math & Kinematics

World Frame

A world frame is the fixed inertial coordinate frame in which robot poses, object locations, and map geometry are expressed, serving as the root of the transform tree that relates all other frames such as base, camera, and end-effector frames. Conventions matter in practice: ROS uses right-handed frames with z up, and transforms between frames are maintained by libraries like tf2.

Why it matters for physical AI

Almost every multi-sensor bug traces back to frame confusion; consistent world-frame bookkeeping is what lets perception outputs, maps, and policy actions expressed in different frames compose into correct physical motion.