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Sensor frame normalization
Convert these bounded sensor observations into the supplied target frame and unit convention.
RQM-operated service.
Version: 1.0.0 · Registry observed: 2026-08-23T20:01:22.843Z · current
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Price and connection
0.010000 USD per request, provider price. Supported Relay purchases add max(0.002 USDC, 5% of provider price). Your fresh quote supplies the exact total.
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Inputs and outputs
Input contract
{
"$defs": {
"CoordinateFrame": {
"additionalProperties": false,
"properties": {
"frame_id": {
"pattern": "^[A-Za-z][A-Za-z0-9_.:-]{0,63}$",
"title": "Frame Id",
"type": "string"
},
"parent_frame_id": {
"anyOf": [
{
"pattern": "^[A-Za-z][A-Za-z0-9_.:-]{0,63}$",
"type": "string"
},
{
"type": "null"
}
],
"default": null,
"title": "Parent Frame Id"
},
"translation": {
"$ref": "#/$defs/Translation"
},
"rotation": {
"discriminator": {
"mapping": {
"matrix": "#/$defs/MatrixRotation",
"quaternion": "#/$defs/QuaternionRotation"
},
"propertyName": "kind"
},
"oneOf": [
{
"$ref": "#/$defs/QuaternionRotation"
},
{
"$ref": "#/$defs/MatrixRotation"
}
],
"title": "Rotation"
},
"transform_direction": {
"enum": [
"parent_to_child",
"child_to_parent"
],
"title": "Transform Direction",
"type": "string"
},
"rotation_semantics": {
"enum": [
"active",
"passive"
],
"title": "Rotation Semantics",
"type": "string"
},
"handedness": {
"enum": [
"right",
"left"
],
"title": "Handedness",
"type": "string"
},
"axis_convention": {
"enum": [
"ENU",
"NED",
"NWU",
"FLU",
"FRD"
],
"title": "Axis Convention",
"type": "string"
}
},
"required": [
"frame_id",
"translation",
"rotation",
"transform_direction",
"rotation_semantics",
"handedness",
"axis_convention"
],
"title": "CoordinateFrame",
"type": "object"
},
"FrameConventionValidationRequest": {
"additionalProperties": false,
"properties": {
"schema_version": {
"const": "rqm.robotics.frame-convention-validation-request.v1",
"default": "rqm.robotics.frame-convention-validation-request.v1",
"title": "Schema Version",
"type": "string"
},
"frames": {
"items": {
"$ref": "#/$defs/CoordinateFrame"
},
"maxItems": 64,
"minItems": 1,
"title": "Frames",
"type": "array"
},
"declared_length_unit": {
"enum": [
"m",
"cm",
"mm"
],
"title": "Declared Length Unit",
"type": "string"
},
"declared_transform_direction": {
"enum": [
"parent_to_child",
"child_to_parent"
],
"title": "Declared Transform Direction",
"type": "string"
},
"declared_rotation_semantics": {
"enum": [
"active",
"passive"
],
"title": "Declared Rotation Semantics",
"type": "string"
},
"declared_handedness": {
"enum": [
"right",
"left"
],
"title": "Declared Handedness",
"type": "string"
},
"declared_axis_convention": {
"enum": [
"ENU",
"NED",
"NWU",
"FLU",
"FRD"
],
"title": "Declared Axis Convention",
"type": "string"
},
"tolerances": {
"$ref": "#/$defs/Tolerances"
}
},
"required": [
"frames",
"declared_length_unit",
"declared_transform_direction",
"declared_rotation_semantics",
"declared_handedness",
"declared_axis_convention"
],
"title": "FrameConventionValidationRequest",
"type": "object"
},
"MatrixRotation": {
"additionalProperties": false,
"properties": {
"kind": {
"const": "matrix",
"default": "matrix",
"title": "Kind",
"type": "string"
},
"values": {
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"type": "array"
},
{
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"type": "array"
},
{
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"type": "array"
}
],
"title": "Values",
"type": "array"
}
},
"required": [
"values"
],
"title": "MatrixRotation",
"type": "object"
},
"QuaternionRotation": {
"additionalProperties": false,
"properties": {
"kind": {
"const": "quaternion",
"default": "quaternion",
"title": "Kind",
"type": "string"
},
"values": {
"maxItems": 4,
"minItems": 4,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"title": "Values",
"type": "array"
},
"order": {
"enum": [
"wxyz",
"xyzw"
],
"title": "Order",
"type": "string"
}
},
"required": [
"values",
"order"
],
"title": "QuaternionRotation",
"type": "object"
},
"SensorObservation": {
"additionalProperties": false,
"properties": {
"observation_id": {
"maxLength": 64,
"minLength": 1,
"title": "Observation Id",
"type": "string"
},
"frame_id": {
"maxLength": 64,
"minLength": 1,
"title": "Frame Id",
"type": "string"
},
"point": {
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"title": "Point",
"type": "array"
},
"unit": {
"enum": [
"m",
"cm",
"mm"
],
"title": "Unit",
"type": "string"
}
},
"required": [
"observation_id",
"frame_id",
"point",
"unit"
],
"title": "SensorObservation",
"type": "object"
},
"Tolerances": {
"additionalProperties": false,
"properties": {
"quaternion_norm": {
"default": 0.000001,
"maximum": 0.01,
"minimum": 1e-12,
"title": "Quaternion Norm",
"type": "number"
},
"matrix_orthogonality": {
"default": 1e-8,
"maximum": 0.01,
"minimum": 1e-12,
"title": "Matrix Orthogonality",
"type": "number"
},
"matrix_determinant": {
"default": 1e-8,
"maximum": 0.01,
"minimum": 1e-12,
"title": "Matrix Determinant",
"type": "number"
}
},
"title": "Tolerances",
"type": "object"
},
"Translation": {
"additionalProperties": false,
"properties": {
"values": {
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"title": "Values",
"type": "array"
},
"unit": {
"enum": [
"m",
"cm",
"mm"
],
"title": "Unit",
"type": "string"
}
},
"required": [
"values",
"unit"
],
"title": "Translation",
"type": "object"
}
},
"additionalProperties": false,
"properties": {
"schema_version": {
"const": "rqm.robotics.sensor-frame-normalization-request.v1",
"default": "rqm.robotics.sensor-frame-normalization-request.v1",
"title": "Schema Version",
"type": "string"
},
"frame_graph": {
"$ref": "#/$defs/FrameConventionValidationRequest"
},
"target_frame_id": {
"maxLength": 64,
"minLength": 1,
"title": "Target Frame Id",
"type": "string"
},
"observations": {
"items": {
"$ref": "#/$defs/SensorObservation"
},
"maxItems": 10000,
"minItems": 1,
"title": "Observations",
"type": "array"
}
},
"required": [
"frame_graph",
"target_frame_id",
"observations"
],
"title": "SensorFrameNormalizationRequest",
"type": "object"
}Output contract
{
"$defs": {
"NormalizedObservation": {
"additionalProperties": false,
"properties": {
"observation_id": {
"title": "Observation Id",
"type": "string"
},
"source_frame_id": {
"title": "Source Frame Id",
"type": "string"
},
"target_frame_id": {
"title": "Target Frame Id",
"type": "string"
},
"point": {
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"title": "Point",
"type": "array"
},
"unit": {
"enum": [
"m",
"cm",
"mm"
],
"title": "Unit",
"type": "string"
},
"transform_path": {
"items": {
"type": "string"
},
"title": "Transform Path",
"type": "array"
}
},
"required": [
"observation_id",
"source_frame_id",
"target_frame_id",
"point",
"unit",
"transform_path"
],
"title": "NormalizedObservation",
"type": "object"
},
"WorkProductEvidence": {
"additionalProperties": false,
"properties": {
"schema_version": {
"const": "rqm.robotics.agent-work-product-evidence.v1",
"default": "rqm.robotics.agent-work-product-evidence.v1",
"title": "Schema Version",
"type": "string"
},
"capability_id": {
"title": "Capability Id",
"type": "string"
},
"executor_id": {
"title": "Executor Id",
"type": "string"
},
"request_hash": {
"pattern": "^[0-9a-f]{64}$",
"title": "Request Hash",
"type": "string"
},
"catalog_digest": {
"pattern": "^[0-9a-f]{64}$",
"title": "Catalog Digest",
"type": "string"
},
"deterministic": {
"const": true,
"default": true,
"title": "Deterministic",
"type": "boolean"
},
"local_only": {
"const": true,
"default": true,
"title": "Local Only",
"type": "boolean"
},
"claim_boundary": {
"maxLength": 1024,
"minLength": 16,
"title": "Claim Boundary",
"type": "string"
}
},
"required": [
"capability_id",
"executor_id",
"request_hash",
"catalog_digest",
"claim_boundary"
],
"title": "WorkProductEvidence",
"type": "object"
}
},
"additionalProperties": false,
"properties": {
"schema_version": {
"const": "rqm.robotics.sensor-frame-normalization-result.v1",
"default": "rqm.robotics.sensor-frame-normalization-result.v1",
"title": "Schema Version",
"type": "string"
},
"verdict": {
"enum": [
"normalized",
"unsupported"
],
"title": "Verdict",
"type": "string"
},
"observations": {
"items": {
"$ref": "#/$defs/NormalizedObservation"
},
"title": "Observations",
"type": "array"
},
"caller_next_step": {
"enum": [
"fuse_compare_or_archive",
"repair_frame_graph"
],
"title": "Caller Next Step",
"type": "string"
},
"evidence": {
"$ref": "#/$defs/WorkProductEvidence"
}
},
"required": [
"verdict",
"observations",
"caller_next_step",
"evidence"
],
"title": "SensorFrameNormalizationResult",
"type": "object"
}Registry source · Buyer instructions and recovery · Public support