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Run through Relay · mcp / x402
Trajectory instability diagnosis
Diagnose this bounded trajectory for the supplied oscillation, divergence, and stability indicators.
RQM-operated service.
Version: 1.0.0 · Registry observed: 2026-08-23T20:01:22.843Z · current
- Supported Relay purchase route; check current admission before paying
- RQM-operated service
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
{
"$defs": {
"TrajectoryRules": {
"additionalProperties": false,
"properties": {
"maximum_speed": {
"exclusiveMinimum": 0,
"title": "Maximum Speed",
"type": "number"
},
"maximum_acceleration": {
"exclusiveMinimum": 0,
"title": "Maximum Acceleration",
"type": "number"
},
"maximum_step_distance": {
"exclusiveMinimum": 0,
"title": "Maximum Step Distance",
"type": "number"
},
"maximum_direction_reversals": {
"maximum": 10000,
"minimum": 0,
"title": "Maximum Direction Reversals",
"type": "integer"
}
},
"required": [
"maximum_speed",
"maximum_acceleration",
"maximum_step_distance",
"maximum_direction_reversals"
],
"title": "TrajectoryRules",
"type": "object"
},
"TrajectorySample": {
"additionalProperties": false,
"properties": {
"timestamp_seconds": {
"minimum": 0,
"title": "Timestamp Seconds",
"type": "number"
},
"position": {
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"title": "Position",
"type": "array"
}
},
"required": [
"timestamp_seconds",
"position"
],
"title": "TrajectorySample",
"type": "object"
}
},
"additionalProperties": false,
"properties": {
"schema_version": {
"const": "rqm.robotics.trajectory-instability-request.v1",
"default": "rqm.robotics.trajectory-instability-request.v1",
"title": "Schema Version",
"type": "string"
},
"frame_id": {
"maxLength": 64,
"minLength": 1,
"title": "Frame Id",
"type": "string"
},
"length_unit": {
"enum": [
"m",
"cm",
"mm"
],
"title": "Length Unit",
"type": "string"
},
"samples": {
"items": {
"$ref": "#/$defs/TrajectorySample"
},
"maxItems": 10000,
"minItems": 3,
"title": "Samples",
"type": "array"
},
"rules": {
"$ref": "#/$defs/TrajectoryRules"
}
},
"required": [
"frame_id",
"length_unit",
"samples",
"rules"
],
"title": "TrajectoryStabilityRequest",
"type": "object"
}Output contract
{
"$defs": {
"TrajectoryIndicator": {
"additionalProperties": false,
"properties": {
"start_index": {
"title": "Start Index",
"type": "integer"
},
"end_index": {
"title": "End Index",
"type": "integer"
},
"duration_seconds": {
"title": "Duration Seconds",
"type": "number"
},
"step_distance": {
"title": "Step Distance",
"type": "number"
},
"speed": {
"title": "Speed",
"type": "number"
},
"acceleration": {
"anyOf": [
{
"type": "number"
},
{
"type": "null"
}
],
"title": "Acceleration"
}
},
"required": [
"start_index",
"end_index",
"duration_seconds",
"step_distance",
"speed",
"acceleration"
],
"title": "TrajectoryIndicator",
"type": "object"
},
"ViolationWindow": {
"additionalProperties": false,
"properties": {
"rule_id": {
"title": "Rule Id",
"type": "string"
},
"start_index": {
"title": "Start Index",
"type": "integer"
},
"end_index": {
"title": "End Index",
"type": "integer"
},
"measured_value": {
"title": "Measured Value",
"type": "number"
},
"threshold": {
"title": "Threshold",
"type": "number"
}
},
"required": [
"rule_id",
"start_index",
"end_index",
"measured_value",
"threshold"
],
"title": "ViolationWindow",
"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.trajectory-instability-result.v1",
"default": "rqm.robotics.trajectory-instability-result.v1",
"title": "Schema Version",
"type": "string"
},
"verdict": {
"enum": [
"pass",
"fail",
"unsupported"
],
"title": "Verdict",
"type": "string"
},
"indicators": {
"items": {
"$ref": "#/$defs/TrajectoryIndicator"
},
"title": "Indicators",
"type": "array"
},
"direction_reversals": {
"title": "Direction Reversals",
"type": "integer"
},
"violations": {
"items": {
"$ref": "#/$defs/ViolationWindow"
},
"title": "Violations",
"type": "array"
},
"caller_next_step": {
"enum": [
"accept",
"retune",
"replan"
],
"title": "Caller Next Step",
"type": "string"
},
"evidence": {
"$ref": "#/$defs/WorkProductEvidence"
}
},
"required": [
"verdict",
"indicators",
"direction_reversals",
"violations",
"caller_next_step",
"evidence"
],
"title": "TrajectoryStabilityResult",
"type": "object"
}Registry source · Buyer instructions and recovery · Public support